MRAC of a 3-DoF Helicopter with Nonlinear Reference Model
Küçük Resim Yok
Tarih
2018
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Model Reference Adaptive Control (MRAC) technique, which is considered to be an effective tool for the control of unknown dynamical systems behavior, is widely used in practical applications. In principal, a known stable linear model dynamics is taken as a reference model such that its response is tracked by the unknown dynamical system by means of an adaptive control scheme. In this paper, rather than using a linear reference model, we propose a nonlinear reference model to be used in the MRAC of nonlinear plant dynamics. First, a stable nonlinear reference model is formed by using State Dependent Riccati Equation (SDRE) approach. Then an adaptation rule is derived to ensure the convergence of the response of nonlinear plant dynamics to that of the nonlinear reference model. The proposed method is tested experimentally using a 3-DoF helicopter test bed with different parameters and working conditions.
Açıklama
26th Mediterranean Conference on Control and Automation (MED) -- JUN 19-22, 2018 -- Zadar, CROATIA
Anahtar Kelimeler
[Keyword Not Available]
Kaynak
2018 26th Mediterranean Conference On Control And Automation (Med)
