This paper deals with the two-input, two-output nonlinear model following control of a 3-DOF(degree-of-freedum) model helicopter. Since the decoupling matrix is singular, a nonlinear structure algorithm is used to design the controller. Furthermore, since the model dynamics are described linearly by unknown system parameters, a parameter identification scheme is introduced in the closed-loop system. Two parameter identification methods are discussed: The first method is based on the differential equation model. In experiments, it is found that this model has difficulties in obtaining a good tracking control performance, due to the inaccuracy of the estimated velocity and acceleration signals. The second parameter identification method is designed on the basis of a dynamics model derived by applying integral operators to the differential equations expressing the system dynamics. Hence this identification algorithm requires neither velocity nor acceleration signals. The experimental results for this second method show that it achieves better tracking objectives.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear model following control with parameter identification for a 3-DOF model helicopter


    Beteiligte:
    Ishitobi, M. (Autor:in) / Nishi, M. (Autor:in) / Miyachi, M. (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    6 Seiten, 7 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Nonlinear adaptive model following control for a 3-DOF tandem-rotor model helicopter

    Ishitobi, Mitsuaki / Nishi, Masatoshi / Nakasaki, Kazuhide | Tema Archiv | 2010


    ICAS2016_0498: MODEL FOLLOWING CONTROL FOR MD500 HELICOPTER

    Park, J. G. / Moon, J. H. / Jang, J. E. et al. | British Library Conference Proceedings | 2016


    Helicopter Parameter Estimation Based on A Nonlinear Physics-Based Model

    Hosseini, Seyedbarzin / Barth, Aaron / Hajek, Manfred et al. | AIAA | 2021


    HELICOPTER PARAMETER ESTIMATION BASED ON A NONLINEAR PHYSICS-BASED MODEL

    Hosseini, Seyedbarzin / Barth, Aaron / Hajek, Manfred et al. | TIBKAT | 2021