Title :
Orbital Stability Analysis of Two-Relay Controller in Second Order Systems via Lyapunov Functions and Its Application to a 3-DOF Underactuated Helicopter
Author :
Aguilar, Luis T. ; Espinoza, Daniel
Author_Institution :
Inst. Politec. Nac., Tijuana, Mexico
Abstract :
This paper deals with the solution of the periodic motion problem in a 3-DOF under actuated helicopter. A two-relay controller was proposed in order to induce self-oscillations in the helicopter. A new framework for orbital stability analysis based on Lyapunov functions was proposed for the closed-loop system. The performance of the proposed two-relay controller to induce self-oscillations into a laboratory under actuated 3-DOF helicopter was verified by simulations.
Keywords :
Lyapunov methods; aircraft control; closed loop systems; relay control; stability; 3-DOF underactuated helicopter; Lyapunov functions; closed-loop system; orbital stability analysis; periodic motion problem; second order systems; self-oscillations; two-relay controller; Closed loop systems; Helicopters; Limit-cycles; Lyapunov methods; Oscillators; Prototypes; Stability analysis; Two-relay controller; self-oscillations; underactuated systems;
Conference_Titel :
Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2014 International Conference on
DOI :
10.1109/ICMEAE.2014.9
