Uniting local and global controllers for the Caltech ducted fan

被引：0
|
作者：
Teel, AR
Kaiser, OE
Murray, RM
机构：
来源：
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1997年
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Caltech's ducted fan experiment is used as a case study to investigate the properties of an algorithm for uniting local and global controllers proposed in [4]. To simplify the control design process and to illustrate robustness, the ducted fan is modeled as a linear system with input rate limits. The local controller is an (fairly aggressive) LQR state feedback while the (semi-)global controller is a much less aggressive LQR state feedback. Closed-loop simulation results are provided using a fully nonlinear model of the ducted fan derived from wind tunnel data. Experimental results are also provided using the actual Caltech ducted fan.
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页码：1539 / 1543
页数：5
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