Nonlinear adaptive control system design and experiment for a 3-DOF model helicopter

被引：8
|
作者：
Nishi M. [1 ]
Ishitobi M. [1 ]
Nakasaki K. [1 ]
机构：
[1] Department of Mechanical Systems Engineering, Kumamoto University
来源：
Artificial Life and Robotics | 2008年 / 13卷 / 01期
关键词：
Model following control; Model helicopters; Nonlinear control; Parameter identification;
D O I：
10.1007/s10015-008-0563-z
中图分类号：
学科分类号：
摘要：
This paper deals with model following control of a model helicopter with three degree-of-freedom. Since the decoupling matrix is singular, a nonlinear structure algorithm is used to design the controller. Furthermore, since the model dynamics are described linearly by unknown system parameters, a well-known parameter estimation technique is introduced. The integral type of estimation model is proposed here since the use of the derivative type of model cannot obtain the desired estimation result. The experimental results show the effectiveness of the proposed method. © International Symposium on Artificial Life and Robotics (ISAROB). 2008.
引用
收藏
页码：50 / 53
页数：3
相关论文
共 50 条
  • [1] Experiment of Sliding Mode Control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Model
    Guzey, Umit M.
    Copur, Engin H.
    Ozcan, Sinan
    Arican, A. Cagri
    Kocagil, B. Mahmut
    Salamci, Metin U.
    [J]. 2019 XXVII INTERNATIONAL CONFERENCE ON INFORMATION, COMMUNICATION AND AUTOMATION TECHNOLOGIES (ICAT 2019), 2019,
  • [2] Nonlinear adaptive model following control for a 3-DOF tandem-rotor model helicopter
    Ishitobi, Mitsuaki
    Nishi, Masatoshi
    Nakasaki, Kazuhide
    [J]. CONTROL ENGINEERING PRACTICE, 2010, 18 (08) : 936 - 943
  • [3] Design and Implementation of Linear/Nonlinear Control Methods on 3-DOF Helicopter
    Veeraboina, Ajith Kumar
    Ordonez, Raul
    [J]. NAECON 2018 - IEEE NATIONAL AEROSPACE AND ELECTRONICS CONFERENCE, 2018, : 435 - 442
  • [4] Adaptive Neural Fault-Tolerant Control of a 3-DOF Model Helicopter System
    Chen, Mou
    Shi, Peng
    Lim, Cheng-Chew
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2016, 46 (02): : 260 - 270
  • [5] LQR control of a 3-DOF helicopter system
    Miracle Nkemdirim
    Sanjana Dharan
    Hicham Chaoui
    Suruz Miah
    [J]. International Journal of Dynamics and Control, 2022, 10 : 1084 - 1093
  • [6] Nonlinear model following control with parameter identification for a 3-DOF model helicopter
    Ishitobi, Mitsuaki
    Nishi, Masatoshi
    Miyachi, Masaaki
    [J]. 2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2007, : 150 - +
  • [7] Adaptive Integral Backstepping Control for a 3-DOF Helicopter
    Gao, Wei-Nan
    Fang, Zheng
    [J]. PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2012, : 190 - 195
  • [8] LQR control of a 3-DOF helicopter system
    Nkemdirim, Miracle
    Dharan, Sanjana
    Chaoui, Hicham
    Miah, Suruz
    [J]. INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2022, 10 (04) : 1084 - 1093
  • [9] Nonlinear optimal control for the 3-DOF laboratory helicopter
    Rigatos, G.
    Wira, P.
    Hamida, M. A.
    Abbaszadeh, M.
    Pomares, J.
    [J]. 2020 IEEE 29TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2020, : 555 - 560
  • [10] MRAC of a 3-DoF Helicopter with Nonlinear Reference Model
    Kocagil, B. Mahmut
    Ozcan, Sinan
    Arican, A. Cagri
    Guzey, Umit M.
    Copur, Engin H.
    Salamci, Metin U.
    [J]. 2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2018, : 278 - 283
12345