2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS)
This work proposes a simplified nonlinear backstepping control method for fast trajectory tracking of a 2-DOF laboratory helicopter called the Two Rotor Aero-dynamical System (TRAS). The relative degree 3 system is decomposed into the yaw subsystem (YS) and the pitch subsystem (PS) and an integral b...
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Univ El Oued, Fac Science & Technology
2017
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オンライン・アクセス: | http://eprints.utm.my/id/eprint/77489/ http://dx.doi.org/10.4314/jfas.v9i6s.31 |
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my.utm.774892018-11-30T07:09:48Z http://eprints.utm.my/id/eprint/77489/ 2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) Haruna, Ado Mohamed, Zaharuddin M. Basri, M. Ariffanan Ramli, Liyana Alhassan, Ahmad Bala TK Electrical engineering. Electronics Nuclear engineering This work proposes a simplified nonlinear backstepping control method for fast trajectory tracking of a 2-DOF laboratory helicopter called the Two Rotor Aero-dynamical System (TRAS). The relative degree 3 system is decomposed into the yaw subsystem (YS) and the pitch subsystem (PS) and an integral backstepping controller (IBC) is designed for each subsystem with the coupling effects considered as uncertainties. The control design considers the system as having relative degree 2, resulting in a much less complex 2-step backstepping control law requiring partial state feedback. Real time experiments show good tracking ability of the proposed method to different input waveforms within a wide operating range. Univ El Oued, Fac Science & Technology 2017-11 Article PeerReviewed Haruna, Ado and Mohamed, Zaharuddin and M. Basri, M. Ariffanan and Ramli, Liyana and Alhassan, Ahmad Bala (2017) 2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS). Journal of Fundamental and Applied Sciences, 9 (6S). pp. 395-407. ISSN 1112-9867 http://dx.doi.org/10.4314/jfas.v9i6s.31 DOI: 10.4314/jfas.v9i6s.31 |
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TK Electrical engineering. Electronics Nuclear engineering Haruna, Ado Mohamed, Zaharuddin M. Basri, M. Ariffanan Ramli, Liyana Alhassan, Ahmad Bala 2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
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This work proposes a simplified nonlinear backstepping control method for fast trajectory tracking of a 2-DOF laboratory helicopter called the Two Rotor Aero-dynamical System (TRAS). The relative degree 3 system is decomposed into the yaw subsystem (YS) and the pitch subsystem (PS) and an integral backstepping controller (IBC) is designed for each subsystem with the coupling effects considered as uncertainties. The control design considers the system as having relative degree 2, resulting in a much less complex 2-step backstepping control law requiring partial state feedback. Real time experiments show good tracking ability of the proposed method to different input waveforms within a wide operating range. |
format |
Article |
author |
Haruna, Ado Mohamed, Zaharuddin M. Basri, M. Ariffanan Ramli, Liyana Alhassan, Ahmad Bala |
author_facet |
Haruna, Ado Mohamed, Zaharuddin M. Basri, M. Ariffanan Ramli, Liyana Alhassan, Ahmad Bala |
author_sort |
Haruna, Ado |
title |
2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
title_short |
2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
title_full |
2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
title_fullStr |
2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
title_full_unstemmed |
2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS) |
title_sort |
2-step integral backstepping control of the two-rotor aero-dynamical system (tras) |
publisher |
Univ El Oued, Fac Science & Technology |
publishDate |
2017 |
url |
http://eprints.utm.my/id/eprint/77489/ http://dx.doi.org/10.4314/jfas.v9i6s.31 |
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1643657564367355904 |
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13.250246 |