Output feedback control design using Extended High-Gain Observers and dynamic inversion with projection for a small scaled helicopter

Automatica ◽  
2021 ◽  
Vol 133 ◽  
pp. 109883
Author(s):  
Joonho Lee ◽  
Joohwan Seo ◽  
Jongeun Choi
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Control Design ◽  
High Gain ◽  
Dynamic Inversion

Stabilization of Inverted Pendulum on a Cart in the Presence of Uncertainties

2015 ◽  
Author(s):  
Joonho Lee ◽  
Jongeun Choi
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Output Feedback Control ◽  
Control Design ◽  
High Gain ◽  
State Feedback Control ◽  
Dynamic Inversion ◽  
Pass Through

This paper presents an output feedback control design to stabilize the inverted pendulum at the upright equilibrium as an extension of our previous work [1]. Compared to our previous work, we add one more time scale between a pendulum angle and angular velocity to reduce a traveled distance of the cart. State feedback control is designed to enable the pendulum to pass through input singularity configurations. Extended High-Gain Observers are used to estimate velocity and acceleration terms while dynamic inversion utilizes the estimates to deal with input coefficient uncertainties and singularity configurations. The proposed control is verified through numerical simulations.

Output Feedback Control Design for Quadrotors in the Presence of Uncertainties

2015 ◽  
Author(s):  
Joonho Lee ◽  
Jongeun Choi
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Time Scale ◽  
Output Feedback Control ◽  
Control Design ◽  
High Gain ◽  
Singular Perturbation Method ◽  
External Disturbances ◽  
System States ◽  
Input Uncertainties

This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates from EHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.

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