Experimental Verification of Linear and Adaptive Control Techniques for a Two Degrees-of-Freedom Helicopter

2015 ◽  
Vol 137 (6) ◽  
Author(s):  
Pavan Nuthi ◽  
Kamesh Subbarao
Keyword(s):  
Flight Control ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Reference Model ◽  
Design Procedure ◽  
Linear Quadratic ◽  
Two Degrees Of Freedom ◽  
Test And Evaluation ◽  
Modeling Uncertainties ◽  
Model Tuning

This paper presents the design procedure and experimental results of a high performance adaptive augmentation technique applied to a controller derived based on linear quadratic methods. The Quanser two degrees-of-freedom (2DOF) helicopter was chosen as the experimental platform on which these controllers were implemented. The paper studies the implementation of each of these controllers standalone as well as in the augmented scheme, and discusses its performance and robustness for cases with parametric uncertainties, and unmodeled dynamics. An attempt is made to combine linear quadratic tracker's reliability with the adaptive augmentation's robustness toward modeling uncertainties. It is found that appropriate tuning of parameters in the adaptive framework is key to its performance and thus the process of choosing the parameters is elaborated along with guidelines for choosing a reference model. Tuning considerations for controller implementation on the experimental setup as compared to the same on the numerical model are also addressed. The experiments performed on this system serve as a suitable research test and evaluation basis for robotics and flight control applications.

Implementation and Testing of Adaptive Augmentation Techniques on a 2-DOF Helicopter

2013 ◽  
Author(s):  
Pavan Nuthi ◽  
Kamesh Subbarao
Keyword(s):  
Flight Control ◽  
High Performance ◽  
Reference Model ◽  
Mimo System ◽  
Design Procedure ◽  
Linear Quadratic ◽  
Test And Evaluation ◽  
Modeling Uncertainties ◽  
Augmentation Techniques ◽  
Model Tuning

This paper presents the design procedure and experimental results of a high performance adaptive augmentation technique applied to a controller derived based on linear quadratic methods. The Quanser 2-DOF helicopter was chosen as the experimental platform on which these controllers were implemented. The paper studies the implementation of each of these controllers stand-alone as well as in the augmented scheme, and discusses its performance and robustness for cases with parametric uncertainties, and unmodeled dynamics. An attempt is made to combine linear quadratic tracker’s reliability with the adaptive augmentation’s robustness towards modeling uncertainties. It is found that appropriate tuning of parameters in the adaptive framework is key to its performance and thus the process of choosing the parameters is elaborated along with guidelines for choosing a reference model. Tuning considerations for controller implementation on the experimental setup as compared to the same on the numerical model are also addressed. The experiments performed on this nonlinear MIMO system serve as a suitable research test and evaluation basis for robotics and flight control applications.

Implementation of Particular Models of Innovative Servomechanisms

2013 ◽  
Vol 389 ◽  
pp. 415-420
Author(s):  
Davide Moscatelli
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Positioning Precision ◽  
Two Degrees Of Freedom ◽  
Model Based ◽  
High Dynamic ◽  
Model Based Analysis

This paper describes a model based analysis of a differential planar servomechanism (two degrees of freedom); this system is meant to achieve high performance as regards the positioning precision (meant as both repeatability and accuracy) keeping a relative high dynamic.

Type Synthesis of Two Degrees-of-Freedom Rotational Parallel Mechanisms With a Fixed Center-of-Rotation Based on a Graphic Approach

2012 ◽  
Author(s):  
K. Wu ◽  
J. J. Yu ◽  
S. Z. Li ◽  
G. H. Zong ◽  
Xianwen Kong
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Two Degrees Of Freedom ◽  
Center Of Rotation ◽  
Parasitic Motion ◽  
Performance Requirements ◽  
Rotary Stage ◽  
Fixed Center

Mechanisms usually have to be particularly designed to meet the high-performance requirements in terms of different applications. For instance, Two degrees of freedom (DOF) rotational parallel mechanisms (RPMs) with a fixed center-of-rotation can eliminate parasitic motion and could provide the rotary stage with excellent dynamic stability, good controllability and easy operation. Therefore, this paper mainly aims at synthesizing 2-DOF RPMs with fixed center-of-rotation, a class of special RPMs with potential excellent performances. A graphic approach based on freedom and constraint spaces is introduced firstly. The constraint spaces of a class of the existing 2-DOF RPMs are illustrated, and the corresponding type synthesis patterns are summarized by comparing the geometric properties of those spaces with the mechanism characteristic. After fully decomposing the four-dimensional constraint space into sub-constraint spaces, a general type synthesis procedure is proposed based on the freedom and constraint topology. Two novel 2-DOF RPMs with fixed center-of-rotation are constructed based on the proposed method and procedure. The proposed graphic approach proves to be effective and simple to synthesizing those parallel mechanisms with some special performance.

A Linear Quadratic Integral Design Approach for the Automatic Control System of a Launch Vehicle

2015 ◽  
Vol 772 ◽  
pp. 410-417 ◽  
Author(s):  
Adrian Mihail Stoica ◽  
Cristian Emil Constantinescu ◽  
Silvia Nechita
Keyword(s):  
Control System ◽  
Flight Control ◽  
Launch Vehicle ◽  
Design Approach ◽  
Flight Control System ◽  
Linear Quadratic ◽  
Atmospheric Disturbances ◽  
Modeling Uncertainties ◽  
Quadratic Integral ◽  
The Stability

This paper presents a design approach for the automatic flight control system of a launch vehicle using a linear quadratic integral technique together with a fixed gain Kalman filter. Its purpose is to analyse the stability and tracking robustness performances of the control system designed via this approach when atmospheric disturbances, modeling uncertainties and structural flexible modes of the launcher are taken into account.

scholarly journals SDRE and LQR Controls Comparison Applied in High-Performance Aircraft in a Longitudinal Flight

2021 ◽  
Vol 1 (2) ◽  
pp. 131-144
Author(s):  
Guilherme P. Dos Santos ◽  
Adriano Kossoski ◽  
Jose M. Balthazar ◽  
Angelo Marcelo Tusset
Keyword(s):  
Nonlinear Model ◽  
Flight Control ◽  
High Performance ◽  
Large Range ◽  
Angle Of Attack ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
State Dependent ◽  
Stall Angle ◽  
Difficult Situations

This paper presents the design of the LQR (Linear Quadratic Regulator) and SDRE (State-Dependent Riccati Equation) controllers for the flight control of the F-8 Crusader aircraft considering the nonlinear model of longitudinal movement of the aircraft.  Numerical results and analysis demonstrate that the designed controllers can lead to significant improvements in the aircraft's performance, ensuring stability in a large range of attack angle situations. When applied in flight conditions with an angle of attack above the stall situation and influenced by the gust model, it was demonstrated that the LQR and SDRE controllers were able to smooth the flight response maintaining conditions in balance for an angle of attack up to 56% above stall angle.  However, for even more difficult situations, with angles of attack up to 76% above the stall angle, only the SDRE controller proved to be efficient and reliable in recovering the aircraft to its stable flight configuration.

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