Attitude Control of a 2-DOF Helicopter System with Input Quantization and Delay
Peer reviewed, Journal article
Published version
Date
2022Metadata
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Original version
Proceedings of the Annual Conference of the IEEE Industrial Electronics Society (IECON). 2022, . 10.1109/IECON49645.2022.9968994Abstract
In this paper the attitude tracking control problem of a 2 degrees-of-freedom helicopter system with network induced constraints is studied. A predictor feedback control law is developed to compensate a known delay in the communication, where the inputs are quantized before transmitted over the network. Stability of the closed-loop system is established, where tracking is achieved with bounded tracking errors due to the network issues. The developed predictor-based controller is experimentally tested on the helicopter system, where we demonstrate that tracking is achieved in presence of both input delay and quantization.