Adaptive Control of 3DOF Motion for LAAS Helicopter Benchmark: Design and Experiments
- 1 July 2007
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in American Control Conference (ACC)
- No. 07431619,p. 3312-3317
- https://doi.org/10.1109/acc.2007.4282243
Abstract
The problem of 3DOF motion control for Quanser/LAAS "Helicopter Benchmark" laboratory setup is considered. Based on the passification design method and the Implicit Reference Model approach, the adaptive control laws are designed and experimentally tested. The MATLAB/Simulink and WinCon software environments are used for adaptive control laws implementation and conducting the real-world experiments. The experimental results demonstrate high closed loop system performance and robustness of the suggested control laws with respect to parametric uncertainties and unmodeled plant dynamics and external disturbances. An important advantage of adaptive control is simplicity of the design procedure compared to conventional model based approach.Keywords
This publication has 9 references indexed in Scilit:
- Method of passification in adaptive control, estimation, and synchronizationAutomation and Remote Control, 2006
- Adaptive control experiments for LAAS "helicopter" benchmarkPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Combined adaptive and Variable Structure ControlPublished by Springer Science and Business Media LLC ,2005
- Combined Adaptive Controller for UAV GuidanceEuropean Journal of Control, 2005
- Combined adaptive autopilot for an UAV flight controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Feedback Kalman-Yakubovich lemma and its applications to adaptive controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Nonlinear and Adaptive Control of Complex SystemsPublished by Springer Science and Business Media LLC ,1999
- Implicit model reference adaptive controller based on feedback Kalman-Yakubovich lemmaPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1994
- Quadratic Lyapunov functions in the adaptive stability problem of a linear dynamic targetSiberian Mathematical Journal, 1976