A model reference adaptive controller for a twin rotor multiple-input multiple-output system is considered in this article. The objective is to make the twin rotor multiple-input multiple-output system move quickly an...
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A model reference adaptive controller for a twin rotor multiple-input multiple-output system is considered in this article. The objective is to make the twin rotor multiple-input multiple-output system move quickly and accurately to the desired attitudes specified by a reference model. Because of the coupling influence between the two axes of the twin rotor multiple-input multiple-output system and its nonlinear complexity, the controller design is performed on the vertical plane and horizontal plane separately. Thus, the nonlinear multiple-input and multiple-output model of the twin rotor multiple-input multiple-output system is decoupled into two subsystems, and the cross-couplings are considered as disturbances to each other. The obtained two models are transformed via Lie derivatives to a canonical form required for adaptive controller design. Then, a hyperstability-based adaptive control technique is applied for each subsystem. The proposed controller design is evaluated in simulations of cross-coupled condition. The obtained results show that the controlled system is robust against disturbances with high tracking performance.
The control performance of aerial vehicles can be easily affected by measurement error in sensor output, dynamic model error, model parameter variation, parametric uncertainty, external disturbance, and dynamic coupli...
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The control performance of aerial vehicles can be easily affected by measurement error in sensor output, dynamic model error, model parameter variation, parametric uncertainty, external disturbance, and dynamic coupling. This article presents a design of robust linear parameter-varying control technique with induced L-2-norm performance combined with linear matrix inequality pole region constraints for a lab-scale helicopter. A linear parameter-varying disturbance rejection observer is constructed that characterizes the L-2-norm performance of the linear parameter-varying system, which enables to estimate state information not only in the presence of external disturbance but also in case of fault occurrence or unavailability of some sensor output. Therefore, the proposed robust linear parameter-varying control scheme has the tendency to provide an adaptive control solution for stability proof and robust tracking performance. The performance of the proposed technique is confirmed both in simulation and in real time. Compared to conventional output feedback H control technique, the proposed control technique yields a good tracking performance in the presence of disturbance, parameter variation, and dynamic coupling.
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