MRAC of a 3-DoF Helicopter with Nonlinear Reference Model

Kocagil, Bedrettin Mahmut; Özcan, Sinan; Arıcan, Ahmet Çağrı; Guzey, Umit Mufit; Copur, Engin H.; Salamcı, Metin U.

doi:10.1109/med.2018.8442941

Cited by 9 publications

(6 citation statements)

References 7 publications

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“…In this section, Update Algorithm 1 and Update Algorithm 2 are applied to a three-DOF helicopter experimental setup to show the effectiveness of the proposed methods. This platform is a widely used experimental setup to determine the performance of proposed controller designs [34][35][36][37][38][39][40][41]. First, the mathematical model of the three-DOF helicopter is presented, and then, its SDC formulation required to design the state feedback control law is given.…”

Section: Applicationmentioning

confidence: 99%

An Extension Algorithm of Regional Eigenvalue Assignment Controller Design for Nonlinear Systems

Arıcan,

Çopur,

Inalhan

et al. 2023

Aerospace

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This paper provides a new method to nonlinear control theory, which is developed from the eigenvalue assignment method. The main purpose of this method is to locate the pointwise eigenvalues of the linear-like structure built by freezing the nonlinear systems at a given time instant in a desired disk region. Since the control requirements for the transient response characteristics are the major constraints on the selection of the disk centre and radius, two different update algorithms are also developed to reshape the disk region by changing the disk centre and radius at each time step. The effectiveness of the proposed methods is tested in both simulations and experiments. A validated three-DOF laboratory helicopter is used for experiments.

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Section: Applicationmentioning

confidence: 99%

An Extension Algorithm of Regional Eigenvalue Assignment Controller Design for Nonlinear Systems

Arıcan,

Çopur,

Inalhan

et al. 2023

Aerospace

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“…Hence, the actual performance given in (8), which is solely determined by the designer-specified performance functions ρ (t), ρ φ (t), ρ θ (t), and ρ ω (t), becomes isolated against model uncertainties, thus extending greatly the robustness of the proposed control scheme. The only conditions that we impose consist in the initial constraints ( 21) and (22), which are necessary for the initial compliance with the performance functions as well as the containment of (t) in (− π 2 , π 2 ). Given the initial errors s (0), s φ (0), e θ (0), and e ω (0), which can be measured at t = 0, one can choose the initial value of the performance functions ρ (0), ρ φ (0), ρ θ (0), and ρ ω (0), respectively, such that (22) hold; note that the feasibility of ( 22) is guaranteed by (21).…”

Section: Let Us Also Definementioning

confidence: 99%

“…The only conditions that we impose consist in the initial constraints ( 21) and (22), which are necessary for the initial compliance with the performance functions as well as the containment of (t) in (− π 2 , π 2 ). Given the initial errors s (0), s φ (0), e θ (0), and e ω (0), which can be measured at t = 0, one can choose the initial value of the performance functions ρ (0), ρ φ (0), ρ θ (0), and ρ ω (0), respectively, such that (22) hold; note that the feasibility of ( 22) is guaranteed by (21). Finally, it should be noted that (21b) can be satisfied by appropriately choosing λ ; substitution of ( 7) into (21b) yields two second-order algebraic inequalities with respect to λ , which lead to new conditions regarding the initial errors (0) − d (0), ˙ (0) − ˙ d (0) as well as design specifications for λ .…”

Section: Let Us Also Definementioning

confidence: 99%

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Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Verginis

Bechlioulis

Soldatos

et al. 2022

IEEE/ASME Trans. Mechatron.

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This article presents a robust control scheme for the trajectory tracking problem of a three-degree-offreedom helicopter with prescribed transient and steadystate performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is a priori and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.

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“…Model reference adaptive control schemes have various applications in engineering fields such as robotic systems, unmanned aerial vehicles, and fault-tolerant systems. 4–7…”

Section: Introductionmentioning

confidence: 99%

Novel model reference adaptive control with application to wing rock example

Roshanian

Rahimzadeh

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this study, we propose new adaptive laws for adjusting the controller parameters of the model reference adaptive control (MRAC) and MRAC with integral feedback schemes. The innovation presented in this study is considering a new form for the Lyapunov function candidate to prove the stability of the closed-loop system. In general, a Lyapunov function candidate contains two sets of quadratic expressions. The first set contains the state tracking error variable, while the second one consists of the controller parameter estimation errors. We prove that by choosing the tracking error quadratic expressions in the form of the exponential function, new adaptive laws that contain the tracking error quadratic expressions are obtained. The difference between the standard MRAC adaptive laws and the proposed new adaptive laws is the state tracking error exponential quadratic expression appears in the adaptive laws. It is shown that the adaptive laws obtained by the exponential quadratic Lyapunov function are similar to those obtained by the quadratic Lyapunov function except that the adaptive gains are variable with time. The advantage of using these new adaptive laws is improving the tracking performance of the closed-loop system, which has been proven analytically and verified by numerical simulations. Also, the robustness analysis of the proposed MRAC controller in the presence of the exogenous disturbance is studied. We consider the single degree of freedom of the wing rock example to evaluate the performance of the designed controllers.

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MRAC of a 3-DoF Helicopter with Nonlinear Reference Model

Cited by 9 publications

References 7 publications

An Extension Algorithm of Regional Eigenvalue Assignment Controller Design for Nonlinear Systems

An Extension Algorithm of Regional Eigenvalue Assignment Controller Design for Nonlinear Systems

Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Novel model reference adaptive control with application to wing rock example

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