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

Date

2005-03-01

Author

Kutay, Ali Türker
Idan, M
Hovakimyan, N

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

226
views

0
downloads

Experimental results are presented that illustrate a recently developed method for adaptive output feedback control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation under known actuator characteristics including actuator dynamics and saturation. Only knowledge of the relative degree of the controlled system within the bandwidth of the control design is required. The controller design was tested by controlling the pitch axis of a three degrees-of-freedom (DOF) helicopter model, using attitude feedback through a low-resolution optical sensor.

Subject Keywords

Control and Systems Engineering, Electrical and Electronic Engineering

URI

https://hdl.handle.net/11511/56866

Journal

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

DOI

https://doi.org/10.1109/tcst.2004.839563

Collections

Department of Aerospace Engineering, Article

Suggestions

OpenMETU
Core

Experimental results on adaptive output feedback control using a laboratory model helicopter Kutay, Ali Türker; Idan, Moshe; Hovakimyan, Naira (2002-01-01) 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...
Phase-sensitive detection of motor fault signatures in the presence of noise Akin, Bilal; Orguner, Umut; Toliyat, Hamid A.; Rayner, Mark (Institute of Electrical and Electronics Engineers (IEEE), 2008-06-01) In this paper, a digital signal processor-based phase-sensitive motor fault signature detection technique is presented. The implemented method has a powerful line current noise suppression capability while detecting the fault signatures. Because the line current of inverter-driven motors involve low-order harmonies, high-frequency switching disturbances, and the noise generated by harsh industrial environment, the real-time fault analyses yield erroneous or fluctuating fault signatures. This situation becom...
Quantitative measure of observability for linear stochastic systems Subasi, Yuksel; Demirekler, Mübeccel (Elsevier BV, 2014-06-01) In this study we define a new observability measure for stochastic systems: the mutual information between the state sequence and the corresponding measurement sequence for a given time horizon. Although the definition is given for a general system representation, the paper focuses on the linear time invariant Gaussian case. Some basic analytical results are derived for this special case. The measure is extended to the observability of a subspace of the state space, specifically an individual state and/or t...
Optimum Nyquist filters with controlled time and frequency characteristics Tuncer, Temel Engin (Institution of Engineering and Technology (IET), 2002-10-10) A design procedure is presented for pulse shaping filters based on the eigenfilter method. This method presents great flexibility for the control of the tail decay and stopband attenuation of the pulse shaping filters. A variety of optimum filters can be designed which are better than raised cosine filters both in time and frequency.
An online sequential algorithm for the estimation of transition probabilities forjump Markov linear systems Orguner, Umut (Elsevier BV, 2006-10-01) This paper describes a new method to estimate the transition probabilities associated with a jump Markov linear system. The new algorithm uses stochastic approximation type recursions to minimize the Kullback-Leibler divergence between the likelihood function of the transition probabilities and the true likelihood function. Since the calculation of the likelihood function of the transition probabilities is impossible, an incomplete data paradigm, which has been previously applied to a similar problem for hi...

Citation Formats

A. T. Kutay, M. Idan, and N. Hovakimyan, “Experimental results on adaptive output feedback control using a laboratory model helicopter,” IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, pp. 196–202, 2005, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/56866.