Title :
Adaptive output feedback control of an underactuated three degrees-of-freedom model helicopter using neural networks
Author :
De Carvalho, Fabrício Galende Marques ; Hemerly, Elder Moreira
Author_Institution :
Electron. Eng. Div., Inst. Tecnol. de Aeronaut., Sao Jose dos Campos
Abstract :
In this paper we apply a recently developed neural network adaptive output feedback control methodology, suited to a class of nonlinear underactuated dynamical systems, to a three degrees-of-freedom (3DOF) model helicopter. Experimental results are presented and illustrate how this approach performs in the presence of modelling errors and parameter variations. Important topics concerning practical implementation are discussed. The obtained results are promising and show that this technique has good performance when dealing with a real uncertain nonlinear underactuated dynamical system.
Keywords :
adaptive control; aircraft control; feedback; helicopters; nonlinear dynamical systems; uncertain systems; adaptive output feedback control; neural networks; uncertain nonlinear underactuated dynamical system; underactuated three degrees-of-freedom model helicopter; Adaptive control; Adaptive systems; Control systems; Helicopters; Neural networks; Nonlinear control systems; Output feedback; Performance gain; Programmable control; Stability;
Conference_Titel :
Control Applications, 2008. CCA 2008. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2222-7
Electronic_ISBN :
978-1-4244-2223-4
DOI :
10.1109/CCA.2008.4629576