Singular perturbation stability analysis for a three-time-scale autonomous helicopter
نویسندگان
چکیده
This paper presents a singular perturbation stability analysis for a nonlinear three-time-scale autonomous helicopter model in vertical flight. The presented time-scale analysis permits to conduct a stability analysis for the singular perturbed threetime-scale system, and allows to construct a composite Lyapunov function for the resultant closed-loop system using time-scale separation. The methodology here presented provides mathematical expressions for the upper bounds of the singularly perturbed parameters that define the three time scale. Numerical results on the stability analysis are also presented for the studied nonlinear highly coupled helicopter model.
منابع مشابه
Stability analysis of a three-time scale singular perturbation control for a radio-control helicopter on a platform
A stability analysis is conducted on the proposed three-time scale singular perturbation control that is applied to a Radio/Control helicopter on a platform to regulate its vertical position. The control law proposed allows to achieve the desired altitude by either selecting a desired collective pitch angle or a desired angular velocity of the blades.
متن کاملNear-Optimal Controls of a Fuel Cell Coupled with Reformer using Singular Perturbation methods
A singularly perturbed model is proposed for a system comprised of a PEM Fuel Cell(PEM-FC) with Natural Gas Hydrogen Reformer (NG-HR). This eighteenth order system is decomposedinto slow and fast lower order subsystems using singular perturbation techniques that provides tools forseparation and order reduction. Then, three different types of controllers, namely an optimal full-order,a near-opti...
متن کاملStability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...
متن کاملIntelligent Auto pilot Design for a Nonlinear Model of an Autonomous Helicopter by Adaptive Emotional Approach
There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. Application of a new intelligent control approach called Brain Emotional Learning Based Intelligent Controller (BELBIC) to design autopilot for an autonomous helicopter is addressed in this paper. This controller is applied to a nonlinear model of a helicopter. This...
متن کاملFinite Time Terminal Synergetic Controller for Nonlinear Helicopter Model
In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and sm...
متن کامل