Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form

Soraya Bououden; Brahim Brahmi; Mohammad Habibur Rahman

doi:10.1109/SSD52085.2021.9429360

Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form

Soraya Bououden, Brahim Brahmi, Mohammad Habibur Rahman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of nonlinear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	765-770
Number of pages	6
ISBN (Electronic)	9781665414937
DOIs	https://doi.org/10.1109/SSD52085.2021.9429360
State	Published - 22 Mar 2021
Externally published	Yes

Publication series

Name	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

2DOF
Flatness
Nonlinear systems
Normal Form

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Signal Processing
Electrical and Electronic Engineering

Access to Document

10.1109/SSD52085.2021.9429360

Cite this

Bououden, S., Brahmi, B., & Rahman, M. H. (2021). Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021 (pp. 765-770). Article 9429360 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD52085.2021.9429360

Bououden, Soraya ; Brahmi, Brahim ; Rahman, Mohammad Habibur. / Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form. 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 765-770 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

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title = "Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form",

abstract = "This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of nonlinear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.",

keywords = "2DOF, Flatness, Nonlinear systems, Normal Form",

author = "Soraya Bououden and Brahim Brahmi and Rahman, \{Mohammad Habibur\}",

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doi = "10.1109/SSD52085.2021.9429360",

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series = "18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021",

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Bououden, S, Brahmi, B & Rahman, MH 2021, Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form. in 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021., 9429360, 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021, Institute of Electrical and Electronics Engineers Inc., pp. 765-770. https://doi.org/10.1109/SSD52085.2021.9429360

Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form. / Bououden, Soraya; Brahmi, Brahim; Rahman, Mohammad Habibur.
18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 765-770 9429360 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2021/3/22

Y1 - 2021/3/22

N2 - This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of nonlinear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

AB - This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of nonlinear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

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KW - Flatness

KW - Nonlinear systems

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AN - SCOPUS:85107463010

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BT - 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

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Bououden S, Brahmi B, Rahman MH. Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 765-770. 9429360. (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). doi: 10.1109/SSD52085.2021.9429360

Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this