Commande Automatique D'Helicopteres Paperback

Alejandro Enrique Dzul Lopez

This paper deals with the modeling and non-linear control of helicopters. Dynamic models with six degrees of freedom for the three types of helicopters (standard, dual-rotor tandem and twin-rotor coax) are established. A generic model for these last three is proposed and adapted when the aircraft is hovering. The resulting model represents a cascade structure having a lower triangular shape which facilitates the development of control laws based on backstepping techniques. A theoretical analysis of the controllers proposed and a study in simulation are made to illustrate the performances of these developments. The particular case of a helicopter mounted on a vertical platform is also studied. This system representing the two degrees of freedom altitude and yaw, is modeled and controlled via a conventional adaptive control technique. Some experiments are carried out to justify the choice of the proposed technique.

9786131541315

French

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