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The paper presents a gain-scheduled LQR control system for a nonlinear model of permanent magnet synchronous motor (PMSM). The most popular cascade FOC (Field Oriented Control) structure including a few single-loop PI control systems is replaced with a single multivariable state feedback controller. Due to a nonlinear nature of the PMSM dynamics equations the developed gain-scheduled controller is...
In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight...
This paper presents an adaptive sliding mode control scheme using slack variables for affine and underactuated nonlinear systems. Slack variables are introduced to overcome the underactuated properties. A proper slack variable generating method is proposed to guarantee the stability of the proposed controller. Lyapunov stability theorem and LaSalle's invariance theorem are used to analyze the stability...
This paper presents, a state observer based controller for the twin rotor multiple-input-multiple-output (MIMO) system. The twin rotor MIMO system (TRMS) belongs to a class of nonlinear system having high coupling effect between two propellers, unstable and nonlinear dynamics. A state observer is designed using coordinate change which transforms the TRMS into an approximate normal form. Based on the...
This paper presents a preliminary study of the chaotic behavior of servo-flap mid-span bending of a four-blade helicopter during hover, low and high-speed forward flights. The servo-flap vibratory measurement was used to create state vectors in a multidimensional space through time-delay embedding, and the trajectory of state vectors in the reconstruction state space was quantified using the correlation...
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