Robust autonomous helicopter stabilizer tuned by particle swarm optimization
Autonomous helicopter stabilization in the presence of a wind disturbance is presented. A controller is designed based on the nonlinear adaptive output regulation and robust stabilization of a chain of integrators by a saturated feedback to stabilize the position and velocity of a helicopter. The co...
Saved in:
Main Author: | |
---|---|
Format: | Article |
Published: |
World Scientific Publishing Co. Pte Ltd
2014
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/62494/ http://dx.doi.org/10.1142/S0218001414590022 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.62494 |
---|---|
record_format |
eprints |
spelling |
my.utm.624942017-06-15T01:16:24Z http://eprints.utm.my/id/eprint/62494/ Robust autonomous helicopter stabilizer tuned by particle swarm optimization Danapalasingam, Kumeresan A. TK Electrical engineering. Electronics Nuclear engineering Autonomous helicopter stabilization in the presence of a wind disturbance is presented. A controller is designed based on the nonlinear adaptive output regulation and robust stabilization of a chain of integrators by a saturated feedback to stabilize the position and velocity of a helicopter. The controller is able to adaptively estimate the wind disturbance whose measurements are not made available. In addition to robustness against the external disturbance input the control design is carried out to handle helicopter parameter uncertainties. The cost of the robustly stabilizing control strategy is the challenge to tune 13 controller parameters for a desired output response. Particle swarm optimization (PSO), a metaheuristic optimization algorithm is applied to automate the tuning process. Simulation results demonstrate the effectiveness of the proposed control and tuning methods in the robust stabilization of the helicopter motion. World Scientific Publishing Co. Pte Ltd 2014 Article PeerReviewed Danapalasingam, Kumeresan A. (2014) Robust autonomous helicopter stabilizer tuned by particle swarm optimization. International Journal of Pattern Recognition and Artificial Intelligence, 28 (1). ISSN 0218-0014 http://dx.doi.org/10.1142/S0218001414590022 DOI:10.1142/S0218001414590022 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
topic |
TK Electrical engineering. Electronics Nuclear engineering |
spellingShingle |
TK Electrical engineering. Electronics Nuclear engineering Danapalasingam, Kumeresan A. Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
description |
Autonomous helicopter stabilization in the presence of a wind disturbance is presented. A controller is designed based on the nonlinear adaptive output regulation and robust stabilization of a chain of integrators by a saturated feedback to stabilize the position and velocity of a helicopter. The controller is able to adaptively estimate the wind disturbance whose measurements are not made available. In addition to robustness against the external disturbance input the control design is carried out to handle helicopter parameter uncertainties. The cost of the robustly stabilizing control strategy is the challenge to tune 13 controller parameters for a desired output response. Particle swarm optimization (PSO), a metaheuristic optimization algorithm is applied to automate the tuning process. Simulation results demonstrate the effectiveness of the proposed control and tuning methods in the robust stabilization of the helicopter motion. |
format |
Article |
author |
Danapalasingam, Kumeresan A. |
author_facet |
Danapalasingam, Kumeresan A. |
author_sort |
Danapalasingam, Kumeresan A. |
title |
Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
title_short |
Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
title_full |
Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
title_fullStr |
Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
title_full_unstemmed |
Robust autonomous helicopter stabilizer tuned by particle swarm optimization |
title_sort |
robust autonomous helicopter stabilizer tuned by particle swarm optimization |
publisher |
World Scientific Publishing Co. Pte Ltd |
publishDate |
2014 |
url |
http://eprints.utm.my/id/eprint/62494/ http://dx.doi.org/10.1142/S0218001414590022 |
_version_ |
1643655436134514688 |
score |
13.160551 |