Experimental results on adaptive output feedback control using a laboratory model helicopter

Kutay A. T., Calise A. J., Idan M., Hovakimyan N.

AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, Amerika Birleşik Devletleri, 5 - 08 Ağustos 2002 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.2514/6.2002-4921
  • Basıldığı Şehir: Monterey, CA
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

Experimental results are presented that illustrate a recently developed method for direct output feedback adaptive control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation during periods of control saturation. A controller designed using this method was tested in controlling the pitch axis of a three degrees of freedom helicopter model, using attitude feedback through a low resolution optical sensor. © 2002 by the author(s).