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.

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

215

Lastpage

222

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438555