Feedback Linearization Design Applied to the Position Control of 2-DOF Helicopter
نویسندگان
چکیده
Abstract: In this paper, the controller introduced represent, at the best knowledge of the authors, the first application of feedback linearization technique to control a Twin Rotor Multi-input Multi-output System (TRMS). With the coupling effects considered as the uncertainties, the highly coupled nonlinear TRMS is decomposed into a horizontal and a vertical subsystem. Then, two control laws are designed to ensure stability of the closed loop. Finally Simulation results are presented to show the effectiveness of the proposed controller.
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