Title :
MIMO output feedback adaptive neural network control of an autonomous scale model helicopter mounted in a 2DOF platform
Author :
Raimundez, J.C. ; Camaño, J.L. ; Baltar, J.A.
Author_Institution :
Vigo Univ.
fDate :
June 28 2004-July 1 2004
Abstract :
In this paper, we present an application of adaptive feedback output control using radial basis functions as the building block to the adaptive element. The application focuses the tracking stabilization of a scale helicopter restricted to a 2DOF platform. Actuator saturation is handled through the pseudo-control hedging (PCH) method. The plant model representing this restricted situation has 3DOF and the control efficiency can be stated through simulations
Keywords :
MIMO systems; actuators; adaptive control; aerospace robotics; aircraft control; feedback; helicopters; mobile robots; neurocontrollers; nonlinear control systems; radial basis function networks; stability; 2 DOF platform; 3 DOF platform; MIMO; actuator saturation; adaptive element; adaptive neural network control; autonomous scale model helicopter; nonlinear control systems; output feedback control; pseudocontrol hedging method; radial basis functions; tracking stabilization; Actuators; Adaptive control; Adaptive systems; Control systems; Helicopters; Intelligent networks; MIMO; Neural networks; Output feedback; Programmable control;
Conference_Titel :
Automation Congress, 2004. Proceedings. World
Conference_Location :
Seville
Print_ISBN :
1-889335-21-5
