Controller Design of a 3-DOF Tandem-Rotor Model Helicopter Based on Discretized Sampling Plant
The paper derives an approximate discrete-time model for a nonlinear 3-DOF tandem-rotor model helicopter in the case of the ordinary input and hold,such as zero-order hold,which is accurate to some order in the sampling periods.More importantly,the proposed model is more accurate than the classic Euler ap-proximation.We also show how a particular strategy can be used to approximate the system output and its derivatives in such a way to obtain a local truncation error and a global truncation error,between the output of the resulting sampled-data model and the true continuous-time system output,of order T5 and T2,respectively,where T is the sampling period.Furthermore,we also explore the implications of these re-sults in nonlinear system identification,which the corresponding discussion has been obtained.Finally,these two design methods,such as emulation input and Lyapunov redesign,have been considered for a nonlinear 3-DOF tandem-rotor model helicopter.It is shown that the Lyapunov redesign implementation model can achieve a better control performance.
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