Abstract
This paper deals with model following control of a model helicopter with three degree-of-freedom. Since the decoupling matrix is singular, a nonlinear structure algorithm is used to design the controller. Furthermore, since the model dynamics are described linearly by unknown system parameters, a well-known parameter estimation technique is introduced. The integral type of estimation model is proposed here since the use of the derivative type of model cannot obtain the desired estimation result. The experimental results show the effectiveness of the proposed method.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Lopez-Martinez M, Ortega MG, Vivas C, Rubio FR (2007) Nonlinear L 2 control of a laboratory helicopter with variable speed rotors. Automatica 43(4):655–661
Kaloust J, Ham C, Qu Z (1997) Nonlinear autopilot control design for a 2-DOF helicopter model. IEE Proc-Control Theory and Appl 144(6):612–616
Avila Vilchis JC, Brogliato B, Dzul A, Lozano R (2003) Nonlinear modelling and control of helicopters. Automatica 39(9):1583–1596
Apkarian J (1998) 3D helicopter experiment manual. Quanser Consulting
Shima M, Isurugi Y, Yamashita Y, Watanabe A, Kawamura T, Yokomichi M (1997) Control theory of nonlinear systems (in Japanese). Corona Publishing
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008
About this article
Cite this article
Nishi, M., Ishitobi, M. & Nakasaki, K. Nonlinear adaptive control system design and experiment for a 3-DOF model helicopter. Artif Life Robotics 13, 50–53 (2008). https://doi.org/10.1007/s10015-008-0563-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-008-0563-z