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Considering the external disturbances, this paper proposes a new control approach, with the intention of improving the trajectory flight control in the longitudinal-lateral trajectory plane with constant altitude, to design a nonlinear adaptive controller for an unmanned autonomous helicopter (UAH). The unknown external disturbances are considered within the system model and estimated through adaption...
DC-DC power converter is a most important power source for driving a DC system in contemporary power electronic systems. However, owing to the time-varying and nonlinear characteristics of load resistance, it is often very challenging issue to ensure the stability of such converters. This paper is concerned about the regulation of the output voltage of a DC-DC buck converter using a nonlinear robust...
A robust adaptive backstepping technique is proposed in this paper to solve the speed-tracking problem of a series DC motor for improving transient response. The parameters of DC motor are considered as unknown and the external disturbances are incorporated into the dynamical model. The proposed controller is designed in such a way that it is adaptive to the unknown parameters of series DC motor and...
This paper presents a nonlinear adaptive excitation control scheme to enhance the dynamic stability of multimachine power systems. The proposed controller is designed based on the adaptive backstepping technique where the mechanical power input to the generators and the damping coefficient of each generator are considered as unknown. These unknown quantities are estimated through the adaption laws...
In this paper, a nonlinear adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. In general, the control of small scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. For simplicity,...
In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results,...
In this paper, a nonlinear robust control technique is proposed to control heave motion for hover as well as vertically take-off/landing of an unmanned autonomous helicopter in the presence of external wind gusts. A heave motion model of a small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the external disturbances. A...
In this paper, a nonlinear robust control technique is proposed to control heave motion for hover as well as vertically take-off/landing of an unmanned autonomous helicopter in the presence of external wind gusts. A heave motion model of a small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the external disturbances. A...
In this paper, a robust control strategy applying on a small helicopter is proposed. The controller is designed using the backstepping approach based on Lyapunov function. In control design, a hierarchical inner-outer loop based structure is proposed to control the hover flight in the presence of external wind gusts. The outer loop (position control) employs robust backstepping controller to control...
In this paper, a nonlinear robust control technique is proposed to control the altitude of a small helicopter for hover as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. A heave motion model of small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the horizontal wind...
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