Model-free controller with an observer applied in real-time to a 3-DOF helicopter

Ahsene BOUBAKIR; Salim LABIOD; Fares BOUDJEMA; Franck PLESTAN

Makale detayları

Model-free controller with an observer applied in real-time to a 3-DOF helicopter

Yazarlar:

Ahsene BOUBAKIR | Salim LABIOD | Fares BOUDJEMA | Franck PLESTAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2014 Vol.22 Issue 6, pp.1564-1581

Belge Tipi:

Makale

Yayın Tarihi:

5/2014

Belge Dili:

Türkçe

Document ID (Org No.):

2000742813

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this paper, a model-free controller with an observer is presented for a class of uncertain continuous-time multiinput-multioutput nonlinear dynamic systems. The proposed model-free control law consists of 2 parts: the first part is a linear control term used to specify the dynamics of the closed loop system, and the second part is a compensator of the effects of uncertainties and external disturbances. The compensator is synthesized from an estimator of the effects of uncertainties and disturbances based on the Lyapunov approach. In order to estimate the unavailable states of the controlled system, a linear state observer is designed. All of the signals in the closed-loop system are proved to be uniformly ultimately bounded using the Lyapunov stability theory. The effectiveness and feasibility of the proposed control strategy are examined in a real-time application for a helicopter with 3 degrees of freedom.

 

In this paper, a model-free controller with an observer is presented for a class of uncertain continuous-time multiinput-multioutput nonlinear dynamic systems. The proposed model-free control law consists of 2 parts: the first part is a linear control term used to specify the dynamics of the closed loop system, and the second part is a compensator of the effects of uncertainties and external disturbances. The compensator is synthesized from an estimator of the effects of uncertainties and disturbances based on the Lyapunov approach. In order to estimate the unavailable states of the controlled system, a linear state observer is designed. All of the signals in the closed-loop system are proved to be uniformly ultimately bounded using the Lyapunov stability theory. The effectiveness and feasibility of the proposed control strategy are examined in a real-time application for a helicopter with 3 degrees of freedom.

Makale detayları

Model-free controller with an observer applied in real-time to a 3-DOF helicopter

Yazarlar: Ahsene BOUBAKIR | Salim LABIOD | Fares BOUDJEMA | Franck PLESTAN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2014 Vol.22 Issue 6, pp.1564-1581

Belge Tipi: Makale

Yayın Tarihi: 5/2014

Belge Dili: Türkçe

Document ID (Org No.): 2000742813

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Ahsene BOUBAKIR | Salim LABIOD | Fares BOUDJEMA | Franck PLESTAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2014 Vol.22 Issue 6, pp.1564-1581

Belge Tipi:

Makale

Yayın Tarihi:

5/2014

Belge Dili:

Türkçe

Document ID (Org No.):

2000742813

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632