Travel Angle Control of Quanser Bench-top Helicopter based on Quantitative Feedback Theory Technique

2016 ◽  
Vol 1 (2) ◽  
pp. 310 ◽  
Author(s):  
A. H. Mohd Hairon ◽  
H. Mansor ◽  
T. S. Gunawan ◽  
S. Khan
Keyword(s):  
Robust Control ◽  
Flight Control ◽  
Pid Controller ◽  
Dynamic Control ◽  
Control Technique ◽  
Quantitative Feedback Theory ◽  
Linear Behavior ◽  
Aerial Vehicle ◽  
Three Degree Of Freedom ◽  
Theory Technique

<p>A three degree of freedom (3-DOF) bench-top helicopter is a simplified aerial vehicle which is used to study the behaviors of the helicopter as well as testing multiple flight control approaches for their efficiency. Designing helicopter’s dynamic control is a challenging task due to the presence of high uncertainties and non-linear behavior. The main objective of this research is to achieve robust control over the helicopter model regardless parameter variation and disturbances using robust control technique, Quantitative Feedback Theory (QFT). QFT utilizes frequency domain methodology which ensures plant’s stability by considering the feedback of the system and thus removing the effect of disturbances and reducing sensitivity of parameter’s variation. The proposed technique is tested against LQR-tuned PID controller in both simulation and real hardware environment to verify its performance. The results obtained shown us that QFT algorithm managed to reduce settling time and steady state error of about 80% and 33% respectively over the classical PID controller.</p>

Robust control design of variable speed wind turbine using quantitative feedback theory

2018 ◽  
Vol 232 (6) ◽  
pp. 691-705 ◽  
Author(s):  
Navdeep Singh ◽  
Bhanu Pratap ◽  
Akhilesh Swarup
Keyword(s):  
Robust Control ◽  
Wind Turbine ◽  
Control Design ◽  
Control Technique ◽  
Effective Control ◽  
Quantitative Feedback Theory ◽  
Variable Speed ◽  
Variable Speed Wind Turbine ◽  
Wide Range ◽  
Robust Control Design

A robust control design of a three blade, horizontal axis variable speed wind turbine is developed in this paper. The variable speed wind turbine model consists of higher order nonlinear dynamics where uncertainty has been considered in the plant parameters. Quantitative feedback theory is an effective and efficient, robust control technique through which the desired specifications over a specified range of parametric uncertainty can easily be achieved in the frequency domain. The proposed robust torque and pitch control in variable speed wind turbine using quantitative feedback theory satisfy prescribed gain and phase margin, degree of tracking for the robust performance, fast convergence, noise attenuation, and input and output disturbance rejection. The advantages of the proposed robust control design are the consideration of a wide range of performance specifications and achieving effective control over an increased operating frequency range. The simulation results demonstrate the satisfactory performance of proposed quantitative feedback theory-based controller and prefilter which fulfill the necessary conditions such as robust stability and robust tracking. Further, it has been shown that the performance of the quantitative feedback theory-based controller is better than the performance with a standard wind turbine controller and also from the performance by proportional-integral controller.

scholarly journals The Design of an Automatic Flight Control System and Dynamic Simulation for Fixed-Wing Unmanned Aerial Vehicle (UAV) using X-Plane and LabVIEW

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Nur Ezzyana Ameera Mazlan ◽  
◽  
Syariful Syafiq Shamsudin ◽  
Mohammad Fahmi Pairan ◽  
Mohd Fauzi Yaakub ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Pid Controller ◽  
Pole Placement ◽  
Flight Simulator ◽  
Flight Control System ◽  
Labview Software ◽  
Controller Gain ◽  
Aerial Vehicle

This research focuses on developing an automatic flight control system for a fixed-wing unmanned aerial vehicle (UAV) using a software-in-the-loop method in which the PID controller is implemented in National Instruments LabVIEW software and the flight dynamics of the fixed-wing UAV are simulated using the X-Plane flight simulator. The fixed-wing UAV model is created using the Plane Maker software and is based on existing geometry and propulsion data from the literature. Gain tuning for the PID controller is accomplished using the pole placement technique. In this approach, the controller gain can be calculated using the dynamic parameters in the transfer function model and the desired characteristic equation. The proposed controller designs' performance is validated using attitude, altitude, and velocity hold simulations. The results demonstrate that the technique can be an effective tool for researchers to validate their UAV control algorithms by utilising the realistic UAV or manned aircraft models available in the X-Plane flight simulator.

Investigation & Simulation of an Intelligent Lateral Flight Controller for a Blimp System

2012 ◽  
Vol 628 ◽  
pp. 420-426
Author(s):  
Sayedmehran Mirsafaie Rizi ◽  
Ali Khalili Mobarakeh ◽  
Mina Mirsafaie ◽  
Saba Nazari ◽  
Mohd Rizal Bin Arshad
Keyword(s):  
Fuzzy Logic ◽  
Flight Control ◽  
Pid Controller ◽  
Fuzzy Logic Controller ◽  
Research Work ◽  
Research Literature ◽  
Object Model ◽  
Proportional Integral Derivative ◽  
Flight Control System ◽  
Aerial Vehicle

This research work elaborates the investigation of lateral flight control system as point of unmanned aerial vehicle control.To evaluate our work, we have used rigid flying object model that is 10 meters in lengthand studythe effects of number of forces were consideredsuch as inertia, fin force and wind to design the heading controller,Fuzzy logic controller more specifically Proportional Integral Derivative (PID) controller is used,wherepros and cons of fuzzy logic controller is considered. To justify our proposed work, simulation is been implemented to model controller designs and dynamics of the airship.Furthermore comparative study have been done between the outcome of the system to be design and the latest research literature. Experimentalresultsillustrate that our method is efficient, is more reliable and effective.

The Design and Simulation of Low-Cost and Super-Applicability Flight Control System of Super-Size UAV

2012 ◽  
Vol 466-467 ◽  
pp. 1156-1161
Author(s):  
Liu Rong ◽  
Yu Ping Lu
Keyword(s):  
Control System ◽  
Flight Control ◽  
Low Cost ◽  
Control Technique ◽  
Flight Control System ◽  
Flight Curve ◽  
Aerial Vehicle ◽  
The Stability ◽  
High Flexibility ◽  
The Cost

In this paper, considering the stability and robustness of the aircraft, the flight control system is designed following the aspect of high flexibility and low cost. Comparing with the flight control system of super-size high-subsonic Unmanned Aerial Vehicle (UAV) in the world, the system presented in this paper has adopted the inimitable control technique of flying-off course、low-cost combinatorial navigation strategy and the advanced safety scheme, which can guarantee the performance, degrade the cost and extend the airspace and groundspace of the aircraft.Through quite a few simulations, the results show that this system can guarantee the attitude and altitude stable. The error between the flight path and programming path is very small. Flight curve is prefect; and the system performances can be achieved completely.

Joint Mechanical Design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle via Collaborative Co-Evolution

2021 ◽  
Vol 6 (2) ◽  
pp. 2044-2051
Author(s):  
Danial Sufiyan ◽  
Luke Soe Thura Win ◽  
Shane Kyi Hla Win ◽  
Gim Song Soh ◽  
Shaohui Foong
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Mechanical Design ◽  
Control Optimization ◽  
Aerial Vehicle

scholarly journals Deep Reinforcement Learning for End-to-End Local Motion Planning of Autonomous Aerial Robots in Unknown Outdoor Environments: Real-Time Flight Experiments

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2534
Author(s):  
Oualid Doukhi ◽  
Deok-Jin Lee
Keyword(s):  
Reinforcement Learning ◽  
Real Time ◽  
Autonomous Navigation ◽  
Control Technique ◽  
Local Motion ◽  
Aerial Robots ◽  
Novel Approach ◽  
Outdoor Environments ◽  
Aerial Vehicle ◽  
High Level

Autonomous navigation and collision avoidance missions represent a significant challenge for robotics systems as they generally operate in dynamic environments that require a high level of autonomy and flexible decision-making capabilities. This challenge becomes more applicable in micro aerial vehicles (MAVs) due to their limited size and computational power. This paper presents a novel approach for enabling a micro aerial vehicle system equipped with a laser range finder to autonomously navigate among obstacles and achieve a user-specified goal location in a GPS-denied environment, without the need for mapping or path planning. The proposed system uses an actor–critic-based reinforcement learning technique to train the aerial robot in a Gazebo simulator to perform a point-goal navigation task by directly mapping the noisy MAV’s state and laser scan measurements to continuous motion control. The obtained policy can perform collision-free flight in the real world while being trained entirely on a 3D simulator. Intensive simulations and real-time experiments were conducted and compared with a nonlinear model predictive control technique to show the generalization capabilities to new unseen environments, and robustness against localization noise. The obtained results demonstrate our system’s effectiveness in flying safely and reaching the desired points by planning smooth forward linear velocity and heading rates.

Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

2016 ◽  
Vol 231 (14) ◽  
pp. 2537-2548 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Xiaozhe Chen ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Output Feedback ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Attitude Tracking ◽  
Uncertain Disturbances ◽  
Aerial Vehicle ◽  
System Output ◽  
Quaternion Representation

An output feedback observer-based dynamic surface controller is presented for attitude tracking problem of the quadrotor unmanned aerial vehicle, which is subject to measurement noise and external disturbances. The dynamics model of the quadrotor unmanned aerial vehicle is firstly introduced with the quaternion representation. Subsequently, a nonlinear augmented observer is introduced for simultaneously estimating the unavailable states and uncertain disturbances from the measurement of system output. The output feedback controller based on the nonlinear augmented observer is designed with the dynamic surface control technique. The Lyapunov stability analysis shows that the attitude tracking performance is ensured and all signals of the closed-loop system remain bounded. Finally, simulative and experimental results are carried out to illustrate, compared with other observer-based controller, the effectiveness of the proposed method is better.

An H∞ Design Approach for a PID Automatic Flight Control System of a Launch Vehicle

2016 ◽  
Vol 859 ◽  
pp. 116-123
Author(s):  
Adrian Mihail Stoica ◽  
Mihaela Raluca Stefanescu
Keyword(s):  
Flight Control ◽  
Pid Controller ◽  
Design Methodology ◽  
Launch Vehicle ◽  
Proportional Integral Derivative ◽  
Flight Control System ◽  
Numerical Examples ◽  
Stability Robustness ◽  
Norm Minimization ◽  
Atmospheric Disturbances

The paper presents a design methodology for the automatic flight control of a launch vehicle. In the proposed approach the controller has a PID (Proportional-Integral-Derivative) structure but its gains are determined solving an H∞ norm minimization problem of the mapping from the atmospheric disturbances to the control amplitude and to the angle of attack of the launcher. The design methodology is illustrated by numerical examples in which both time responses and stability robustness properties of the optimal PID controller are analyzed.

Sign in / Sign up

Export Citation Format

Share Document