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Dharmayanda, Hardian Reza,Budiyono, Agus,Kang, Taesam Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6
<B>Purpose</B> - The purpose of this paper is to design a model-based robust controller for autonomous hovering of a small-scale helicopter. <B>Design/methodology/approach</B> - The model is developed using prediction error minimization (PEM) system identification method implemented to flight data. Based on the extracted linear model, an <I>H</I><SUB>8</SUB> controller is synthesized for robustness against parametric uncertainties and disturbances. <B>Findings</B> - The proposed techniques for modelling provide a linear state-space model which correlates well with the recorded flight data. The synthesized <I>H</I><SUB>8</SUB> controller demonstrates an effective performance which rejects both sinusoidal and step input disturbances. The controller enables the attitude angle follow the reference target while keeping the attitude rate constant about zero for hover flight condition. <B>Research limitations/implications</B> - The synthesized controller is effective for hovering and low-speed flight condition. <B>Practical implications</B> - This work provides an efficient hovering/low-speed autonomous helicopter flight control required in many civilian UAV applications such as aerial surveillance and photography. <B>Originality/value</B> - The paper addresses the challenges of controlling a small-scale helicopter during hover with inherent modelling uncertainties and disturbances.
Hardian Reza Dharmayanda,Taesam Kang,Youngjae Lee,Sangkyung Sung 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The overall objective of this work is modeling of X-Cell and the construction of robust controllers to handle parameter uncertainties and disturbances. The model was developed by combining initial estimation modelderived by mathematical formulation i.e. First Principle Modeling and system??identification modeling. This combination has proven to increase the accuracy of dynamic model. Moreover, the principle in construction of a robust controller forX-Cell was developed. This paper covers the modeling method and designing controller in hover flight regime.
김호찬,강태삼,Hardian Reza Dharmayanda,Agus Budiyono,이기건,Widyawardana Adiprawita 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.1
Rigorous control synthesis for an unmanned aerial vehicle necessitates the availability of a good, reasonable model for such a vehicle. The work reported in this paper focuses on the modeling of a rotary unmanned aerial vehicle (RUAV) and the development of a robust controller that can handle parameter uncertainties and disturbances. The parameters of the plant model are obtained through the use of the prediction error method with real flight data. The response of the identified linear model shows a good match with the measured flight data. The H∞ control scheme is applied to obtain a robustly stable controller using the identified model. The proposed controller is analyzed using fre-quency-domain analysis and time-domain simulations. The performance of the proposed H∞ control-ler is better than that of the conventional proportional derivative controller in that the proposed controller has a shorter settling time and less overshoot. Furthermore, the degradation of the proposed controller performance is negligible and stability is maintained when the input gains to the plant are doubled, which demonstrates the good performance and robustness of the controller.