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• W2023008986 abstract "Multiple experimental three-degrees-of-freedom (three-DOF) helicopters that are equipped with active disturbance systems constitute an attractive platform to validate robust control strategies. In this paper, a distributed synchronization controller is developed for such a platform, where each helicopter is subjected to unknown model uncertainties and external disturbances, and the desired trajectories are generated online, communicated through a network and not accessible by all helicopters. The controller is composed of a continuous tracker and a continuous uncertainty and disturbance estimator (UDE). The tracker makes the nominal closed-loop system globally asymptotically stable, and the UDE output is used to reject total uncertainties. The conditions that ensure zero-error tracking for each helicopter are identified; for the case with nonzero error, explicit relationship inequalities between the involved design parameters and the ultimate bound of error are revealed. Experimental results of four cases demonstrate improved tracking and synchronization accuracy of using the UDE with small parameters." @default.
• W2023008986 created "2016-06-24" @default.
• W2023008986 creator A5010049049 @default.
• W2023008986 creator A5019886822 @default.
• W2023008986 creator A5052792056 @default.
• W2023008986 date "2015-03-01" @default.
• W2023008986 modified "2023-10-12" @default.
• W2023008986 title "Robust distributed attitude synchronization of multiple three-DOF experimental helicopters" @default.
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• W2023008986 doi "https://doi.org/10.1016/j.conengprac.2014.12.003" @default.
• W2023008986 hasPublicationYear "2015" @default.
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