Feedback linearization of the nonlinear model of a small-scale helicopter

Song, Biao; Liu, Yunhui; Fan, Caizhi

doi:10.1007/s11768-010-0017-8

Cited by 14 publications

(10 citation statements)

References 20 publications

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“…Substituting equations (19) and (21) into equation (30), we can compute the closed loop dynamic equation as The parameters of nonlinear yaw channel model of an UAVH are summarized as following Next, the control law of yaw dynamics of the UAVH is given by…”

Section: Stability Analysismentioning

confidence: 99%

“…Substituting equations (19) and (21) into equation ( 30), we can compute the closed loop dynamic equation as…”

Section: Stability Analysismentioning

confidence: 99%

“…At present, the flight control technology is mainly divided into two categories: linear control techniques such as proportional-integral-derivative (PID) control, 10 H 1 control, 11,12 and H 2 control 13 ; nonlinear control techniques such as fuzzy control, [14][15][16][17][18] feedback linearization control, 19 backstepping control, [20][21][22] sliding model control, 1,4,23 and neural network control. 5,[24][25][26] Linear control method is very suitable for practical applications, since its design process is simple and the controller is easy to be implemented, which is also the reason for UAVHs dominated by linear control methods.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with linear control technology, nonlinear control techniques can maintain the stabilization of the system in a large scale, which have been researched in the control system of UAVHs. [14][15][16][19][20][21][22][23] However, the nonlinear model of the UAVH is too complicated and generally non-affine, so the practical application of nonlinear controller is still an open and challenging research field. Therefore, the key motivation for this article is not only to simplify the yaw channel model of UAVHs for the nonlinear controller design but also guarantee the basic nonlinear characteristics of UAVHs to ensure the designed controller to be globally stable.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive fuzzy tracking control for non-affine nonlinear yaw channel of unmanned aerial vehicle helicopter

Yan

Huang

2016

International Journal of Advanced Robotic Systems

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The article deals with the problem of the yaw control of the unmanned aerial vehicle helicopter which is non-affine nonlinear by use of a novel projection-based adaptive fuzzy control approach. First, principle model and control design model of the yaw channel of the unmanned aerial vehicle helicopter are described. Then, a dynamic approximation technique is introduced to approach the non-affine model of the unmanned aerial vehicle helicopter into an affine model with variable parameters, which is applied to facilitate the design of nonlinear control scheme. Next, in the proposed controller, fuzzy controller is designed to deal with the unknown uncertainties and disturbances. Meanwhile, the projection-based adaptive law applied in fuzzy controller bounds the parameter estimation function and can also guarantee the robustness of the designed control scheme against uncertain disturbances. Moreover, the convergence and stability of the designed controller are proved by Lyapunov stability theory. Finally, the simulation results of the yaw channel of an unmanned aerial vehicle helicopter are performed to illustrate that the designed controller has good tracking performance, stability, and robustness under the condition of the time-vary uncertain disturbances.

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Section: Stability Analysismentioning

confidence: 99%

“…Substituting equations (19) and (21) into equation ( 30), we can compute the closed loop dynamic equation as…”

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive fuzzy tracking control for non-affine nonlinear yaw channel of unmanned aerial vehicle helicopter

Yan

Huang

2016

International Journal of Advanced Robotic Systems

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“…Details of which are covered in the following subsection. The conventional methods, like the proportional resonant (PR) controller [24], [32], deadbeat predictive controller [33]- [39], active damping algorithm with LCL filter [40], [41] and feedback linearization [21], [23], [42]- [44] have been extensively applied, but are reported to be vulnerable in systems with parameter variations. Hence in this research we propose to design a robust controller for the VSI.…”

Section: Introductionmentioning

confidence: 99%

New robust controller design for voltage source inverters in microgrids

Syed

Abido

2014

22nd Mediterranean Conference on Control and Automation

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Renewable energy sources such as Solar, wind etc. have gained a lot of interest and application in the recent years, as they can provide electric power on a large scale and are environment friendly. The advancement in the technology of these renewable energy systems has been investigated now a days with a lot of interest. An integral component of the power electronics system that interfaces a renewable energy source to the main power grid is the voltage source inverter (VSI). The purpose served by VSI is converting the DC output of the power source to smooth sinusoidal AC for connection to the main grid. A controller also needs to be designed for the VSI to regulate its output voltage and/or output power. Several issues relevant to the control design have been extensively addressed including vulnerability of the system to parameter variation and uncertainty. In this research work we propose, to design a new robust reference tracking controller, its application and, implementation. The robust controller should be designed such that systems performance in presence of uncertainty improves in comparison to the existing control methods. We will develop the robust control law based on the results presented in a recent research work. To achieve reference tracking, the controller will be augmented with an integral controller. Simulation results will be provided at the end to show good reference tracking performance and significant improvement in the performance of the system in the presence of uncertainty.

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Robust adaptive active fault‐tolerant control of UAH with unknown disturbances and actuator faults

Yan

Jiang

2019

Adaptive Control & Signal

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SummaryThis paper proposes a robust active fault‐tolerant control (AFTC) approach for medium‐scale unmanned autonomous helicopter (UAH) with rotor flapping dynamics in the presence of unknown external disturbances and actuator faults. The robust items are adopted to improve the disturbance rejection capability of the UAH system. The adaptive fault observers are developed to estimate the fault parameters and the fault detection (FD) algorithms are presented to detect the actuator faults in different loops. In order to obtain satisfactory trajectory tracking performance, a backstepping‐based robust AFTC scheme is designed for the simplified 6‐degree‐of‐freedom (DOF) UAH nonlinear dynamics model and the global stability of the closed‐loop system is proved by using the Lyapunov method. Several groups of numerical simulation results are carried out to verify the effectiveness of the developed method.

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Feedback linearization of the nonlinear model of a small-scale helicopter

Cited by 14 publications

References 20 publications

Adaptive fuzzy tracking control for non-affine nonlinear yaw channel of unmanned aerial vehicle helicopter

Adaptive fuzzy tracking control for non-affine nonlinear yaw channel of unmanned aerial vehicle helicopter

New robust controller design for voltage source inverters in microgrids

Robust adaptive active fault‐tolerant control of UAH with unknown disturbances and actuator faults

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