Adaptive Dynamic Surface Control is designed for Twin Rotor unmanned helicopter in three-dimensional space

Subject Areas : Adaptive control

Amir Reza  Moadeli ¹ (MSc. - Karoon Oil and Gas Company, Ahvaz, Iran)
Khoshnam  Shojaee ² (Assistant Professor - Department of Electrical Engineering, Islamic Azad University, Najafabad Branch)
Afshin  Etesami ³ (Instructor-Department of Electrical Engineering, Islamic Azad University, Najafabad Branch)

Received: 2015-06-02 Accepted : 2016-03-06 Published : 2016-04-20

Keywords: nonlinear control, Helicopter, Backstepping Nonlinear Control, Dynamic Surface Control,

Abstract :

In this paper, the system control design problem twin rotors helicopters Unmanned Aerial Vehicles (UAV) in three dimensional space Without uncertainty based on the dynamic adaptive control is studied. the adaptive Dynamic surface control approach complexity explosion problem in non-linear control step back or backstepping method [45] using the First-order filters removed. The first helicopter dynamic equations and functions are examined. Then, the Dynamic surface control techniques by compare non-linear control technique back stepping [45] is checked and the system is simulation by both techniques adaptive Dynamic surface control and nonlinear control back stepping method. The proposed adaptive dynamics surface nonlinear control method approach is able to guarantees that all the signals in the closed-loop system are asymptotically stable for all initial conditions and you can also choose appropriate design parameters of the system output converges to a small neighborhood of origin ensured . Finally, simulation results are presented, showing the effectiveness of control methods are given.

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