TY - GEN
T1 - Negative imaginary feedback control for a 3-DOF helicopter system
AU - Choudhary, Santosh Kumar
PY - 2019/4
Y1 - 2019/4
N2 - This paper investigates negative imaginary system theory based control solution for the position and attitude control problem of 3 degrees of freedom (DOF) helicopter system. The 3 DOF helicopter is a benchmark laboratory model and it demonstrates open-loop unstable dynamics. Moreover, this systems also faces uncertainty because of coupling between its roll angle and travel rate. The control of such complex aero-dynamical system has been a challenging task for the control community. The article adopts a newly developed negative imaginary feedback control concept. The main objective of the paper is to apply negative imaginary theory based positive feedback control scheme to obtain the desired attitude (elevation angle, roll angle) and position (travel rate) as the outputs of the helicopter systems. The robust properties of the feedback system are demonstrated and simulation results of the paper show that stability and tracking property can be accomplished at the same time.
AB - This paper investigates negative imaginary system theory based control solution for the position and attitude control problem of 3 degrees of freedom (DOF) helicopter system. The 3 DOF helicopter is a benchmark laboratory model and it demonstrates open-loop unstable dynamics. Moreover, this systems also faces uncertainty because of coupling between its roll angle and travel rate. The control of such complex aero-dynamical system has been a challenging task for the control community. The article adopts a newly developed negative imaginary feedback control concept. The main objective of the paper is to apply negative imaginary theory based positive feedback control scheme to obtain the desired attitude (elevation angle, roll angle) and position (travel rate) as the outputs of the helicopter systems. The robust properties of the feedback system are demonstrated and simulation results of the paper show that stability and tracking property can be accomplished at the same time.
UR - http://www.scopus.com/inward/record.url?scp=85075002811&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85075002811&partnerID=8YFLogxK
U2 - 10.1109/ICMSAO.2019.8880400
DO - 10.1109/ICMSAO.2019.8880400
M3 - Conference contribution
T3 - 2019 8th International Conference on Modeling Simulation and Applied Optimization, ICMSAO 2019
BT - 2019 8th International Conference on Modeling Simulation and Applied Optimization, ICMSAO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Modeling Simulation and Applied Optimization, ICMSAO 2019
Y2 - 15 April 2019 through 17 April 2019
ER -