Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters

Shan, Jinjun; Liu, H.-T.; Nowotny, Sebastian

doi:10.1049/ip-cta:20050008

Cited by 70 publications

(45 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to the influence of gravity, we cannot always expect periodicity for the trajectories that are obtained as solutions to (10) even if the constraint functions are periodic. For simplicity, assume that 1 = 0.…”

Section: B Motion 1: Constant Pitch and Rollmentioning

confidence: 99%

“…(18) The fact that = 0 implies that the reduced dynamics is not influenced by gravity and the solution (trajectory) to (10) is (10).…”

Section: Motion 2: Cyclic Pitch Constant Rollmentioning

confidence: 99%

“…The system has been used as experimental platform for evaluation of various control methods, e.g. robust predictive control [7], neural network-based adaptive control [3] and multiple-system motion synchronization [10].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Motion planning and control of an underactuated 3DOF helicopter

Westerberg

Mettin

Shiriaev

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-We consider trajectory planning for an underactuated 3DOF helicopter, using the virtual holonomic constraint approach. First we choose constraint functions that describe the configuration variables along a desired motion in terms of some independent parametrization variable. This lets us describe the closed-loop system by some reduced order dynamics, the solution of which gives a feasible trajectory for the desired motion. By using the method of transverse linearization for controller design, we achieve exponential orbital stability to a desired trajectory. Numerical simulations confirm this property and show good convergence to a desired periodic motion when initialized from a resting state.

show abstract

Section: B Motion 1: Constant Pitch and Rollmentioning

confidence: 99%

“…(18) The fact that = 0 implies that the reduced dynamics is not influenced by gravity and the solution (trajectory) to (10) is (10).…”

Section: Motion 2: Cyclic Pitch Constant Rollmentioning

confidence: 99%

See 1 more Smart Citation

Motion planning and control of an underactuated 3DOF helicopter

Westerberg

Mettin

Shiriaev

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…The movement range of the elevation ψ and pitch θ angles is limited to between around -1 and 1 rad due to the hardware restriction. In the literature, the dynamic modeling of this system was studied in several papers [22,25,26,28]. The equations of motion about axes ψ , θ , and ϕ are given by Eq.…”

Section: System Descriptionmentioning

confidence: 99%

Model-free controller with an observer applied in real-time to a 3-DOF helicopter

Boubakir¹,

Labiod²,

Boudjema³

et al. 2014

Turk J Elec Eng & Comp Sci

View full text Add to dashboard Cite

Abstract:In this paper, a model-free controller with an observer is presented for a class of uncertain continuous-time multiinput-multioutput nonlinear dynamic systems. The proposed model-free control law consists of 2 parts: the first part is a linear control term used to specify the dynamics of the closed loop system, and the second part is a compensator of the effects of uncertainties and external disturbances. The compensator is synthesized from an estimator of the effects of uncertainties and disturbances based on the Lyapunov approach. In order to estimate the unavailable states of the controlled system, a linear state observer is designed. All of the signals in the closed-loop system are proved to be uniformly ultimately bounded using the Lyapunov stability theory. The effectiveness and feasibility of the proposed control strategy are examined in a real-time application for a helicopter with 3 degrees of freedom.

show abstract

“…need more than one shaking tables to carry out vibration tests simultaneously [3,10]. The purpose of shaking tables control of parallel manipulators [5,11,13,22,23]. Quan [13] proposed an optimal synchronous tracking control based on the states variable error of displacement, velocity and acceleration, which can obtain high synchronization performance.…”

Section: Introductionmentioning

confidence: 99%

Attitude synchronous tracking control of double shaking tables based on hybrid fuzzy logic cross-coupled controller and adaptive inverse controller

Zhang

Cong²,

Yang³

et al. 2015

IFS

View full text Add to dashboard Cite

Abstract. The purpose of shaking tables is to replicate the desired motion to specimen, which needs to ensure not only the synchronization precision of two tables, but the tracking precision for the desired signal. Due to the nonlinearity of system and eccentric of load masses, both tracking and synchronous accuracy are poor. To solve this problem, this article proposes a novel hybrid controller combined a hybrid fuzzy PD cross-coupled controller (CCC) with an adaptive inverse controller (AIC). Based on state variable error optimal control idea, a 2-stage parallel hybrid fuzzy logic controller (FLC) composed of fuzzy PD and accelerated fuzzy PD is proposed to CCC to reduce synchronization error. In order to improve the tracking accuracy, an AIC based on recursive extended least square (RELS) algorithm is used to estimate the close-loop inverse transfer functions of double shaking tables to adaptively tune the drive signals. The combination of hybrid fuzzy PD CCC and AIC has the advantage of integrating a superiority of the two control techniques for better control performance. The procedure of the proposed control scheme is programmed, and tests are carried out in various conditions. The test results demonstrated the viability of the proposed hybrid control scheme.

show abstract

Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters

Cited by 70 publications

References 12 publications

Motion planning and control of an underactuated 3DOF helicopter

Motion planning and control of an underactuated 3DOF helicopter

Model-free controller with an observer applied in real-time to a 3-DOF helicopter

Attitude synchronous tracking control of double shaking tables based on hybrid fuzzy logic cross-coupled controller and adaptive inverse controller

Contact Info

Product

Resources

About