Experimental results on adaptive output feedback control using a laboratory model helicopter

• Published in: IEEE transactions on control systems technology Vol. 13; no. 2; pp. 196 - 202
• Main Authors: Kutay, A.T., Calise, A.J., Idan, M., Hovakimyan, N.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.03.2005; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptation; Adaptative systems; Adaptive control; Adaptive control systems; Applied sciences; Bandwidth; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Design engineering; Dynamics; Exact sciences and technology; Helicopters; Laboratories; Mathematical models; neural networks (NNs); Optical control; Output feedback; Programmable control; uncertain systems; Uncertainty; Helicopter; Dynamic characteristic; uncertain systems; Saturation; Feedback regulation; Control synthesis; Optical sensor; Neural network; Adaptive control; Modeling; Optical measurement; Uncertain system; neural networks (NNs); Unmodeled dynamics; Bandwidth; Output feedback; Actuator
• ISSN: 1063-6536; 1558-0865
• DOI: 10.1109/TCST.2004.839563

Experimental results are presented that illustrate a recently developed method for adaptive output feedback control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation under known actuator characteristics including actuator dynamics and saturation. Only knowledge of the relative degree of the controlled system within the bandwidth of the control design is required. The controller design was tested by controlling the pitch axis of a three degrees-of-freedom (DOF) helicopter model, using attitude feedback through a low-resolution optical sensor.