Login | Register

Modelling and piecewise-affine control of an aerobatic helicopter


Modelling and piecewise-affine control of an aerobatic helicopter

Yue, Wei (2005) Modelling and piecewise-affine control of an aerobatic helicopter. Masters thesis, Concordia University.

[thumbnail of MR10277.pdf]
Text (application/pdf)
MR10277.pdf - Accepted Version


The study of highly maneuverable aerobatic helicopters has received a growing amount of interest in the past few years. This thesis describes the development of an analytic dynamic model of an aerobatic helicopter with the least amount of complexity and with sufficient accuracy for control system development. The model is based on a rigid body dynamics formulation with applied external forces and moments including the effects of gravity and aerodynamics. The model is validated by comparing simulation results with flight test data available in the literature for a YAMAHA R-50 helicopter. The model is further simplified to obtain a three degree of freedom helicopter model and a piecewise-affine (PWA) approximate representation. The model is then used to develop a PWA controller for the system. To design this controller a local linear controller is designed for the PWA approximate model in the region where the desired closed-loop equilibrium point lies. An optimization problem subject to Bilinear Matrix Inequalities (BMIs) is then solved to find a PWA extension of the linear controller. A piecewise quadratic Lyapunov function is found which proves stability of the closed-loop system in the whole domain of the nonlinearity. This work develops a physics-based model for aerobatic helicopters representing a complete derivation that allows approximations to be made to yield a simplified representation for PWA control design and analysis. The model is also expressed in a linear parameterized form ideal for parameter estimation and adaptive control. Finally, this research represents the first development of a PWA model and controller for an aerobatic helicopter system.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Thesis (Masters)
Authors:Yue, Wei
Pagination:xiii, 100 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Mechanical and Industrial Engineering
Thesis Supervisor(s):Gordon, Brandon and Rodrigues, Luis
Identification Number:LE 3 C66M43M 2005 Y94
ID Code:8599
Deposited By: Concordia University Library
Deposited On:18 Aug 2011 18:30
Last Modified:13 Jul 2020 20:04
Related URLs:
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top