Trajectory Linearization Based Output Tracking Control of an Unmanned Tandem Helicopter with Variance Constraints

다국어 초록 (Multilingual Abstract)

An output tracking control problem for an unmanned tandem rotor helicopter with variance constraints is investigated in this paper. A modified Trajectory Linearization Control (TLC) is proposed to stabilize a nonlinear continuous-time flight dynamics system of the tandem helicopter. The tracking controller structure of TLC is designed by using two-time-scale nonlinear dynamic inversion. The base control law of the translational and attitude loops is designed in a pseudo-inversion feedforward con-troller to deal with nonlinear features of the plant and a proportional integral controller to stabilize the linear slowly time-variant error system resulted from the nonlinear flight system. Furthermore, a feasi-ble TLC strategy is designed to meet a performance index set including steady trajectory tracking error variance and desired Parallel D-spectrum (PD-) eigenvalues to achieve good flight quality. The Vari-ance-constrained Trajectory Linearization Control (VCTLC) is designed to realize the desired steady tracking precision and agile capability. Flight simulation results show the VCTLC method is feasible and effective in attitude and altitude tracking.

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