Adaptive Control of 3DOF Motion for LAAS Helicopter Benchmark: Design and Experiments

The problem of 3DOF motion control for Quanser/LAAS "Helicopter Benchmark" laboratory setup is considered. Based on the passification design method and the Implicit Reference Model approach, the adaptive control laws are designed and experimentally tested. The MATLAB/Simulink and WinCon so...

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Bibliographic Details
Published in2007 American Control Conference pp. 3312 - 3317
Main Authors Andrievsky, B., Peaucelle, D., Fradkov, A.L.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.07.2007
Subjects
Adaptive control
Benchmark testing
Closed loop systems
Design methodology
Experimental Results
Helicopter Benchmark
Helicopters
Laboratories
Mathematical model
MATLAB
Motion control
Passification Theorem
Pitch Control
Robust control
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ISBN9781424409884
1424409888
ISSN0743-1619
DOI10.1109/ACC.2007.4282243

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Summary:The problem of 3DOF motion control for Quanser/LAAS "Helicopter Benchmark" laboratory setup is considered. Based on the passification design method and the Implicit Reference Model approach, the adaptive control laws are designed and experimentally tested. The MATLAB/Simulink and WinCon software environments are used for adaptive control laws implementation and conducting the real-world experiments. The experimental results demonstrate high closed loop system performance and robustness of the suggested control laws with respect to parametric uncertainties and unmodeled plant dynamics and external disturbances. An important advantage of adaptive control is simplicity of the design procedure compared to conventional model based approach.
ISBN:9781424409884
1424409888
ISSN:0743-1619
DOI:10.1109/ACC.2007.4282243