著者

齊藤 健一 太田 裕文

出版者

一般社団法人 日本航空宇宙学会

雑誌

日本航空宇宙学会誌 (ISSN:00214663)

巻号頁・発行日

vol.46, no.531, pp.247-253, 1998-04-05 (Released:2010-12-16)

参考文献数

8

被引用文献数

2 2

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Two design considerations to the exact linearization method that yield a robust controller to parameter variations are proposed. The first one is that the feedback gains using exact linearization are determined to be equal to those of the linear approximated design. This means that the closed-loop system has no less robustness than the corresponding linear approximated design. Another design consideration is based on the idea that two vector fields before and after the nonlinear transformation are made to be equal each other near the design point. Thus, the transformed system retains the original stability characteristics. The first consideration is then used to design a nonlinear controller of an aircraft with a jump phenomena due to roll coupling. The equations of motion are examined from viewpoint of exact linearization, and the required ransformation is obtained analytically. The designed controller is examined for the control input magnitude and parameter variations, and the robustness is compared with a linear controller.