Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization

Saeki, Masami; Imura, Jun‐ichi; Wada, Yutaka

doi:10.1109/cca.1999.806166

Cited by 11 publications

(3 citation statements)

References 6 publications

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“…[12] performs a comparative analysis between intelligent control and classical control for TRMS. Adaptive fuzzy, neural network, and feedback linearization based controllers are also designed for the tracking of yaw and pitch angles in TRMS [4,[13][14][15][16][17][18][19][20][21][22]. However, the proposed state variables are assumed 2 Discrete Dynamics in Nature and Society…”

Section: Introductionmentioning

confidence: 99%

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

Ilyas

Abbas

UbaidUllah

et al. 2016

Discrete Dynamics in Nature and Society

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Modeling of complex air vehicles is a challenging task due to high nonlinear behavior and significant coupling effect between rotors. Twin rotor multi-input multioutput system (TRMS) is a laboratory setup designed for control experiments, which resembles a helicopter with unstable, nonlinear, and coupled dynamics. This paper focuses on the design and analysis of sliding mode control (SMC) and backstepping controller for pitch and yaw angle control of main and tail rotor of the TRMS under parametric uncertainty. The proposed control strategy with SMC and backstepping achieves all mentioned limitations of TRMS. Result analysis of SMC and backstepping control schemes elucidates that backstepping provides efficient behavior with the parametric uncertainty for twin rotor system. Chattering and oscillating behaviors of SMC are removed with the backstepping control scheme considering the pitch and yaw angle for TRMS.

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Section: Introductionmentioning

confidence: 99%

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

Ilyas

Abbas

UbaidUllah

et al. 2016

Discrete Dynamics in Nature and Society

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“…Several classical as well as intelligent controllers for TRMS have been proposed in the literature [13]- [16]. Feedback linearization controller has been proposed for TRMS in [17]- [18]. However the simplified model of TRMS has been utilized for designing the controller.…”

Section: Introductionmentioning

confidence: 99%

State observer based robust feedback linearization controller for twin rotor MIMO system

Pratap

Purwar

2012

2012 IEEE International Conference on Control Applications

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This paper presents, a state observer based controller for the twin rotor multiple-input-multiple-output (MIMO) system. The twin rotor MIMO system (TRMS) belongs to a class of nonlinear system having high coupling effect between two propellers, unstable and nonlinear dynamics. A state observer is designed using coordinate change which transforms the TRMS into an approximate normal form. Based on the proposed observer, a feedback linearization controller is designed for TRMS. The control effort is further compensated using a compensator based on Chebyshev neural network (CNN) to ensure good tracking performance and bounded control effort. Finally simulation results are presented to illustrate the effectiveness of the proposed observer based controller.Keywords-Approximate normal form, Chebyshev neural network, nonlinear system, state observer, twin rotor MIMO system.978-1-4673-4505-7/12/$31.00 ©2012 IEEE

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“…At both ends of the beam, there are rotors (main rotor and tail rotor) steered by DC motors. A counterbalance arm with a weight on its end is rooted to the beam at the axis [5]. The state of the beam is characterized by four system variables: horizontal and vertical angles calculated by position sensors provided at the pivot, and two corresponding angular velocities.…”

Section: Introductionmentioning

confidence: 99%

H2 and H∞ Controller Design of Twin Rotor System (TRS)

Ahmad¹,

Anjum²,

Bukhari³

2013

ICA

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Control engineering had been the core of all engineering fields all the time. As the name depicts, control of different parameters of various industrial or commercial equipment like plants, vehicles, aircrafts and etc is obtained. Robust and optimal control of these equipments plays a vital role. This paper presents a design of H 2 and H ∞ control for a Twin Rotor System (TRS). TRS is a multi input multi output (MIMO) nonlinear system. The main objective is to control the angular position of the lever bar of TRS. It is having strong coupling between inputs and outputs. The model is first linearized and then controllers are designed to control the positions of lever bar. Simulations are made in MAT-LAB/SIMULINK. Model parameters are also provided in the end.

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Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization

Cited by 11 publications

References 6 publications

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

State observer based robust feedback linearization controller for twin rotor MIMO system

<i>H</i><sub>2</sub> and <i>H</i><sub>∞</sub> Controller Design of Twin Rotor System (TRS)

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Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization

Cited by 11 publications

References 6 publications

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy

State observer based robust feedback linearization controller for twin rotor MIMO system

&lt;i&gt;H&lt;/i&gt;&lt;sub&gt;2&lt;/sub&gt; and &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;∞&lt;/sub&gt; Controller Design of Twin Rotor System (TRS)

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<i>H</i><sub>2</sub> and <i>H</i><sub>∞</sub> Controller Design of Twin Rotor System (TRS)