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Disturbance Observer-Based Control
book

Disturbance Observer-Based Control

by Shihua Li, Jun Yang, Wen-Hua Chen, Xisong Chen
April 2016
Intermediate to advanced content levelIntermediate to advanced
340 pages
9h 3m
English
CRC Press
Content preview from Disturbance Observer-Based Control
Saunder January 22, 2014 10:43 K15053˙Book
Disturbance Rejection for Small-Scale Helicopters 253
−2.5 −2 −1.5 −1 −0.5 0 0.5 1 1.5 2 2.5
−2.5
−2
−1.5
−1
−0.5
0
0.5
1
1.5
2
2.5
x (m)
y (m)
Reference ENMPC+DOBC ENMPC
Wind direction
Start point
End point
Figure 14.4 Eight-shape tracking.
The test result is given in Figure 14.7. In the test, the helicopter was first under
the control of ENMPC to perform take-off and hovering. It can be seen that the
ENMPC stabilized the helicopter but with a steady-state error due to the mismatch
between the model used for ENMPC design and the real helicopter dynamics. After
25 seconds, the disturbance observer switched on and the composite ...
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Publisher Resources

ISBN: 9781466515802