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RESEARCH PRODUCT

Attitude Control of a 2-DOF Helicopter System with Input Quantization and Delay

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Author's accepted manuscript © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. 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.