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<dc:title xml:lang="pl"><![CDATA[Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances]]></dc:title>
<dc:creator><![CDATA[Sánchez-Meza, Victor-Gabriel]]></dc:creator>
<dc:creator><![CDATA[Lozano-Hernández, Yair]]></dc:creator>
<dc:creator><![CDATA[Gutiérrez-Frías, Octavio]]></dc:creator>
<dc:creator><![CDATA[Lozada-Castillo, Norma]]></dc:creator>
<dc:creator><![CDATA[Luviano-Juárez, Alberto]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[flat filtering control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[generalized proportional integral control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[non-linear systems]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[tail rotor disturbance]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[two degrees of freedom helicopter]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model).]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle, given by the z axis, is in free form, while the pitch angle, which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2023]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86709/AMCS_2023_33_4_2.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101619/edition/86709/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86709]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 33, number 4 (2023)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=130]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101619]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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