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NONLINEAR AND ADAPTIVE CONTROL OF MODEL HELICOPTER

MANICKAM, NITHYA
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1144639875

Abstract Details

2006, MS, University of Cincinnati, Engineering : Electrical Engineering.
A helicopter is a complex nonlinear system and also an under actuated system with fewer independent control actuators than degrees of freedom to be controlled, making the control difficult. There is a growing interest in the modeling and control of such systems using nonlinear dynamic models and nonlinear control. Analytical techniques based on Lyapunov theory are then used to design the controller and still the design can become extremely complex. Hence the existing control methods use linearization techniques on the actual nonlinear dynamics of the plant and linear control techniques. The resulting performance may not be satisfactory, especially when the system is subjected to unknown and sudden disturbances. In this thesis, we present a new Nonlinear and Adaptive controller design which uses the actual nonlinear model of the helicopter and not a linearized version. The design methodology basically involves making the combined dynamics of the helicopter and the controller resemble the dynamics of a nonlinear time varying electrical circuit having the required properties using a process similar to reverse engineering. The circuit template in turn is formed from well defined time varying and/or nonlinear electrical elements and using proper interconnections. The kind of elements used and the general form of the dynamics derived will depend upon the application. For example in the helicopter case, the closed loop dynamics of the helicopter and the controller expressed in terms of the error variable should point to a NLTV circuit with only passive elements. For this, the reactive elements should have their relaxation points (the points where the stored energy is zero) at and only at the origin. Also the stored energy should be monotonically increasing. We can bring in any knowledge including the structure that we have about the plant being controlled in enhancing the circuit.
Dr. Panapakkam Ramamoorthy (Advisor)
117 p.
Nonlinear Control; Circuit Dynamics; Helicopter Control

Recommended Citations

Citations

  • MANICKAM, N. (2006). NONLINEAR AND ADAPTIVE CONTROL OF MODEL HELICOPTER [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1144639875

    APA Style (7th edition)

  • MANICKAM, NITHYA. NONLINEAR AND ADAPTIVE CONTROL OF MODEL HELICOPTER. 2006. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1144639875.

    MLA Style (8th edition)

  • MANICKAM, NITHYA. "NONLINEAR AND ADAPTIVE CONTROL OF MODEL HELICOPTER." Master's thesis, University of Cincinnati, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1144639875

    Chicago Manual of Style (17th edition)

ucin1144639875
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© 2006, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.