Model reference adaptive control for twin rotor multiple-input and multiple-output system via minimal controller synthesis

Chelihi, Abdelghani; Chemachema, Mohamed

doi:10.1177/0959651814520825

Cited by 8 publications

(8 citation statements)

References 21 publications

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“…The above drawbacks can be solved by using a model reference adaptive control (MRAC) method, which was discussed by Chelihi and Chemachema (2014), Chen et al (2014), Joshi et al (2011), Kaya and Cetin (2015), Neild et al (2008), Sinafar et al (2014), Swarnkar et al (2010) and Zu et al (2012). This method can construct a model-based controller to make the output of an uncertainty system track its desired reference input without requiring all known plant parameters of the system since control parameters are estimated by adaptation laws.…”

Section: Introductionmentioning

confidence: 99%

Backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input

Duong

Nguyen

Jeong

et al. 2017

Transactions of the Institute of Measurement and Control

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This paper presents a backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input. The proposed controller synthesizes the backstepping technique and the model reference adaptive control method to construct control inputs for recursive structure and uncertain modelling of the multi-axial system. To cope with the limit of saturated input, an auxiliary system is adopted. A dead-zone modification is introduced to avoid the drift phenomenon of adjusted adaptive parameters. The stability of the proposed controller is proven by Lyapunov’s theory while considering the effect of the auxiliary system and the dead-zone modification in the design stage. The effectiveness and performance of the proposed controller are evaluated by experiment on a transformer winding system.

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Section: Introductionmentioning

confidence: 99%

Backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input

Duong

Nguyen

Jeong

et al. 2017

Transactions of the Institute of Measurement and Control

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“…Adaptive controllers offer better performance and robustness to uncertainties as compared to a fixed gain controller, as they are able to adapt to the uncertainties in the system dynamics. 1–8 Due to its small size, complex aerodynamics and velocity comparable to wind speed, MAV system dynamics is highly uncertain and subjected to high disturbances from the external environment. Due to the above-mentioned challenges in MAV control, a controller that can adapt to these complex dynamics is desired.…”

Section: Introductionmentioning

confidence: 99%

Design and flight testing of closed-loop simple adaptive control for a biplane micro air vehicle

Jana

Shewale

Balasubramaniam

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents the implementation of closed-loop simple adaptive control on fixed-wing micro air vehicle dynamics to improve flight performance characteristics. It is known that to retain the micro air vehicle system performance during the entire flight regime is difficult due to model uncertainties, large parameter variation and wind disturbances compared to flight velocity. An adaptive controller can adapt to the uncertainties but the complexity involved in their implementation is high due to unavailability of required sensor information and computational resources on a micro air vehicle platform. Lack of flight test results in the open literature incorporating adaptive control so far can be partially attributed to this complexity. In this case, adaptive control architecture is implemented in such a way that only the uncertainties in the system dynamics are taken care of by the adaptive control and desired nominal plant performance is achieved by the basic controller. The proposed adaptive controller architecture is implemented in real flight test, and improvement of tracking performance over a proportional–integral–derivative controller is demonstrated which illustrates superior performance to conventional architectures. The proposed design approach can be implemented easily to an existing system, and system performance can be enhanced in the presence of unmodelled and uncertain system dynamics.

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“…The model reference adaptive control technique is applied to control TRMS via minimal controller synthesis in Chelihi and Chemachema. 3 The authors describe the modeling and open-loop control of TRMS in Ahmad et al, 4 which applies control method using shaped command inputs and test for resonance suppression in the TRMS. Rahideh and Shaheed 5 develop the mathematical modeling of TRMS on the basis of Newtonian and Lagrangian approach, and the developed models are compared with the hardware set-up of TRMS to validate the accuracy of the results.…”

Section: Introductionmentioning

confidence: 99%

Design of robust proportional–integral–derivative controller for generalized decoupled twin rotor multi-input-multi-output system with actuator non-linearity

Pandey

Dey

Banerjee

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work addresses the problem of robust stabilization of twin rotor multi-input-multi-output system in the presence of inherent actuator non-linearity and plant structured uncertainties due to parameter variation. In order to achieve so, first a generalized decoupling technique is implemented to eliminate the cross coupling effect which are present in between the input and output of main and tail rotors of twin rotor multi-input-multi-output system. Next, two proportional–integral–derivative controllers are employed to control the main and tail rotors independently. The ranges of the parameters of the controllers are evaluated based on the Kharitonov theorem so as to ensure robust stability in the presence of structured uncertainties. The values of the controller parameters are finally sought out of these robust ranges with bacterial foraging optimization technique such that satisfactory time domain criteria are met. Furthermore, the compensated system is analyzed in frequency domain with common actuator non-linearity dead-zone and saturation together. The performance of the designed controller is evaluated through both simulation and experimental results. The controllers are found to perform efficiently ensuring adequate robust stability even in the presence of uncertainty, disturbance and actuator non-linearity.

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Model reference adaptive control for twin rotor multiple-input and multiple-output system via minimal controller synthesis

Cited by 8 publications

References 21 publications

Backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input

Backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input

Design and flight testing of closed-loop simple adaptive control for a biplane micro air vehicle

Design of robust proportional–integral–derivative controller for generalized decoupled twin rotor multi-input-multi-output system with actuator non-linearity

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