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Output Tracking for Systems with Non-Hyperbolic and Near Non-Hyperbolic Internal Dynamics: Helicopter Hover ControlA technique to achieve output tracking for nonminimum phase linear systems with non-hyperbolic and near non-hyperbolic internal dynamics is presented. This approach integrates stable inversion techniques, that achieve exact-tracking, with approximation techniques, that modify the internal dynamics to achieve desirable performance. Such modification of the internal dynamics is used (1) to remove non-hyperbolicity which an obstruction to applying stable inversion techniques and (2) to reduce large pre-actuation time needed to apply stable inversion for near non-hyperbolic cases. The method is applied to an example helicopter hover control problem with near non-hyperbolic internal dynamic for illustrating the trade-off between exact tracking and reduction of pre-actuation time.
Document ID
19970003454
Acquisition Source
Ames Research Center
Document Type
Other
Authors
Devasia, Santosh
(Utah Univ. Salt Lake City, UT United States)
Date Acquired
August 17, 2013
Publication Date
January 1, 1996
Subject Category
Cybernetics
Accession Number
97N12186
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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