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WeP06-3
Abstract-In this paper, we focus on the design and implementation of a controller for a two degree-of-freedom system.
This system is composed of a small-scale helicopter which is
mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical
pole-placement techniques for the yaw dynamics and adaptive
pole-placement for the altitude dynamics. Experimental results
show the performance of such a controller.
1. INTRODUCTION
In the past few years, flight control problems for small
unmanned helicopters has attracted the attention of control
researchers. The first control strategies for helicopters were
presented in [5], [ 8 ] , [ll]. They basically assumed a linear
model obtained for a particular operating point, the model
parameters have been obtained by means of identification
techniques as the CIFER technique [lo]. Weilenmann and
Geering [ l l ] have worked with a small-scale helicopter
mounted on top of a platform that allowing six degree-offreedom (DoF) flight conditions in a 2-m cube, the mathematical model was linearized around the hover position.
Recently, [6] presents a modelling technique that combines
a first-principles non-linear model and system identification
techniques (called MOSCA), this method is shown to be
useful to calculate the model parameters when the helicopter
is completely instrumented (IMU, GPS, etc).
The helicopter control team at the University of Technology of CompiBgne, France, aims at controlling the flight
of a small-scale helicopter in the three-dimensional space.
However, in order to gain insight into the modelling of the
helicopter, the aerodynamic effects, the ground effect, the
various interfaces and the sensors, we have built a vertical
flying stand that allows the helicopter to move freely in the
vertical axis as well as to turn around the vertical axis (i.e.
the yaw). This means that the pitch and roll are mechanically
constrained lo be zero. The vertical platform is depicted in
figure 1.
A full model of the helicopter mounted on this platform
was obtained in [21 using a Lagrangian formulation and
including the aerodynamic effects. This model has three DoF
which are the altitude, the yaw and the rotor displacement.
We have carried out a set of experiments to validate such
a model. The resulting model is, in general, nonlinear since
some of the parameters depend on the square of the main
rotor velocity. It is clear that when the helicopter evolves in
the flying stand, the main rotor velocity varies only slightly.
Neglecting the rotor displacement leads to a system having
two inputs (main rotor thrust and tail rotor thrust) and two
outputs (altitude and yaw). It is natural to use the main rotor
thrust to control the altitude and the tail rotor thrust to control
the yaw. This suggested the use of a control algorithm based
on pole-placement techniques [l], [7] for each one of the
variables, i.e. altitude and yaw. Before computing the poleplacement controller, we compensate for the gravity term,
using the main rotor thrust, and compensate the coupling
terms in the yaw dynamic equation using the tail rotor thrust.
We have carried out the synthesis of a pole-placement
controller assuming the parameters as constant values. However, when validating the model using experimental data, we
have noticed some difficulties in estimating the values of
the leading coefficients in the dynamic equations, i.e. those
multiplying the control inputs. To take into account such
parameter uncertainties, we have used a Lyapnnov approach
to show that the proposed controller is robust with respect to
small uncertainties in the parameter values. Experiments have
shown that the proposed non-adaptive controller remains
stable, but presents a small oscillatory behavior and the
altitude fails to reach its desired value.
Controlling the altitude is important especially during takeoff and landing of the helicopter. In order to improve the
proposed altitude controller we have developed an adaptive
controller. The adaptation is only made on the leading
coefficient corresponding to the main rotor thrust. We have
used a Lyapunov analysis to prove that all the variables
remain bounded and the altitude and yaw converge to their
desired values.
We have noticed experimentally that it is very hard to
make the transition from a non-adaptive controller to an
adaptive one in which the estimates can move rapidly in
a large domain. For security reasons we have to introduce
some fixes in the adaptive controller to obtain a smooth
transition between a non-adaptive controller and an adaptive
controller. We have constrained the parameters to belong to
pre-specified intervals and we have introduced a gain into the
gradient adaptation algorithm [4] to reduce, if required, the
speed of adaptation of the parameters. The converge analysis
has been carried out including this two modifications.
Experimental results showed that the adaptive controller
improves the performance of the pole-placement algorithm.
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El
1 1
F(u) =
7-
Fig. I .
..
*IT,
n i ( d @+ C(q,d@
+ G(q)
F(u),
+ cg$ ic10
( c l 4 + c13)ul + c1&2 + C l 5
C,C~U,
Cl1&2U2
m i = cs*'u1 -mg,
(6)
1550
"
,i)
+ C13)ul f c14$'
= c ~ c ~ ~ $ ' (-u kz
-c4[(cll@
+Cl5],,
. .
(7)
i =
klul
-kz,
(8)
k3u2
(9)
where
(1)
. c1
c4
o
[ O0
"1
0
+c2cos~(c3*) c4
[:
M(q) =
(2)
c5
cgsin(2c3@)*2 cgsin(2c3*)&
-c6 sin(2c39)11,
0
(3)
= 4 7 1 1 - ks(11, -
271 1
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d),
(16)
-[(k4 - k 7 ) 4
k3
where
+ ks
k 5 ~ 1
-ks(!b - !bd)l.
Defining
(17)
ali
QZ
+k, (6-
&I
= qi
a1
-1,
ii2
-1.
= Ak1 [ c q i
+ a2 ( z - z')]
(32)
x1 =
(33)
2-2,
j.,
= i,
(34)
22
i.
(35)
(19)
+ a2 (2 - z d ) +e,
2).
x = Ax+Bu,
(27)
(28)
-kie,
(18)
+ Aki.
(z - zd)
+ i + (Z - zd)
where
=
a2i1.
ki
ai%,,
DESIGN
= klul - kzl
a2
a1
(20)
(36)
where
[ .']
-1
-1
then
+ 012 (Z - z')]
Akl [ali
- ki8.
(40)
-e.
(23)
z =
(El
+ A h ) aii
+kiB
+ + Aki)
(E1
- k2.
a 2 (2
- zd)
(24)
1 kleZ
= 2Px+--,
2 0
e-Ae
5 B<B+As,
(25)
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[::I
+ xTP(Ax + Bu)
(ATxT BTo) P x
k188 .
t-
A k l ( ~ ~ 14 U 2 ) < 2 - E ,
Akl(kYl 2'22) < 2 - E .
= xT (ATP + P A ) x
+ BTvPx + xTPBv
(56)
v 5
k166
+- a
=
(55)
(43)
-c42-(2-
zd)
(57)
xT (ATP+ P A ) x
(45)
where
as t - o o
(58)
2 -* 0
as t h o o
(59)
From (41) and (57) it follows that z , i and 6 are bounded.
However, notice that 6 may not belong to the interval As, 8 + A@]in which f? is known to lie. Experiments have
iz
[e
8 in
i/
-22: - ZX;
-2i?
k,68
+ 2x121 + 4XzW + P
(48)
- 2 (2 - z d ) 2 + 2 [ ( z- z d )
+2t] [ a k l [a14+ a 2 ( 2 - z"] - k16]
+-kl88
P
k,S (y
where
y = -P(Z
We know that
(49)
= - 2 2 - 2 (2 - z d )
5 - 2 2 - 2 ( z - zd)
+ Akl ( z - 2")
(a,+ 4 4
+2 4 + -
[ ( z- t d )
(t-S)(y-,B)
(e+6-B)(y-e)
(52)
= -p(z(r-rd)+4t).
(53)
5 -2i2
- 2 (2 - z d )
+ Akl ( z - 2'))'
+Akli2(5al + 2 4 .
(a,
+ 4a2)
(54)
(63)
50,
(64)
he.
(65)
y f o r 6~ [ s - A , , S + A s ]
f m y > O and 8 = e - A s
0 for y < O and B = s - A s
(66)
0 f o r y > O and O = $ + A , j
y f o r y < O and 8 = e + A g
Therefore, y e conclude that t 4 tdwhen t goes towards
As].
infinite, and 8 E [S - As.
y
conditions to he
(61 S
(WO
(62)
where
+Ak1i2(5al + Z C Y ~ )
[z
(61)
q-8)
4 1 6
+4k)
(50)
(2-zd)
S - A, 5 0 5 e + As.
+ A h ( t - z d ) (2a2) Akli2(4al)
+Akl ( z - z d ) i ( 2 a l 4an)
- k 1 6 [ 2 [ ( z - z d ) + 2 i ] + d ]P '
- 8) ,
s+
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A . Hardware
The radio-controlled helicopter used is a VARlO 1.8 diameter rotor with a 23 m3gasoline internal combustion engine.
The radio is a Graupner MC-20. The venical displacement
is measured by a linear optical encoder and the yaw angle
is obtained through a standard angular encoder. The radio
and the PC (INTEL Pentium 3) are connected using data
acquisition cards (ADVANTECH PCL-818HG and PCL726). In order to simplify the experiments, the control inputs
can be independently commuted between the automatic and
the manual control modes. The connection in the radio is
directly made to the joystick potentiometers for the gas and
yaw controls. The vertical displacement of the helicopter in
the platform varies from 1.8 to 2.5 m. Otherwise it can turn
free!y around the vertical axis. The angular velocity feedback
-k+ is carried out by the intemal gyro control system of the
helicopter.
E. Experiment
The vertical speed i is computed from the
using the first order approximation
measurement
8.
20 . . ~: .......
. . . . . . . . . .
.
.
P
-?D
.
O
Tvnclrrl
. . . . . . .
..
.
~
L
Time Ism1
= 0.01 x i -0.08 x ( z - 2 d ) .
(68)
We can see that the non adaptive controller leads to oscillations and a considerable steady state emor in the altitude
dynamics. Figure 3 shows the performance of the adaptive
altitude controller when applied to the RC helicopter. Note
that we have no oscillations in the altitude dynamics and the
steady state error is zero or very small.
V. CONCLUSION
We have presented an adaptive control scheme based on
pole-placement. The algorithm controls the altitude dynamics
of a real small-scale helicopter. The control algorithm has
been proposed far a Lagrangian model of the RC helicopter.
The proposed strategy has been successfully applied to the
~ real
O helicopter in the flying stand.
VI. REFERENCES
[I] Astrom K. and Wittenmark B., Conipurer-controlled
Sysrenls :Theory and design, Prentice Hall, Information
and systems sciences series, third edition, 1997.
[2] J. C. Avila, B.Brogliato, A. Dznl and R. Lozano, Nonlinear modelling and control of helicopters, Anronlotica,
Vol 39, No. 9, pp 1583-1596, 2003.
[3] Fantoni I. and Lczano R., Non-linear Control for Underucruared Mechanical Systems, Springer, 2001.
[4] Johansson R., System Modeling & Idenfificufion,Prentice Hall, Information and system sciences series, 1993.
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