Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Author

Akmeliawati, R. ; Raafat, Safanah M.

Author_Institution

Intell. Mechatron. Syst. Res. Unit, Int. Islamic Univ. Malaysia (IIUM), Kuala Lumpur, Malaysia

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

6

Abstract

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFB-ICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance.

Keywords

discrete systems; helicopters; multivariable control systems; optimal control; optimisation; state feedback; 3DOF helicopter system; SVFB-ICE; axis positions; discrete multivariable version; extremum seeking; multiparameter ES; online optimization; optimal controller parameters; optimized state feedback regulation; state vector feedback with integration of the control error tuning; Control systems; Cost function; Gold; Helicopters; Tuning; Vectors; 3DOF helicopter; discrete multivariable extremum seeking; extremum seeking; state feedback control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606363

Filename

6606363