Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system

This paper contains a new proposed regarding on robust adaptive control method merge with Linear-Quadratic Regulator (LQR), to design a faster response controller for uncertain characterized three degree of freedom (3-DOF) flight control module. 3-DOF helicopter is a bench-top module use in laborato...

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Main Authors:	Boby, Rounaqul Islam, Mansor, Hasmah, Gunawan, Teddy Surya, Khan, Sheroz
Format:	Conference or Workshop Item
Language:	English English English English
Published:	2014
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/40301/ http://irep.iium.edu.my/40301/ http://irep.iium.edu.my/40301/1/1570055211.pdf http://irep.iium.edu.my/40301/5/TOC_ICSIMA.pdf http://irep.iium.edu.my/40301/6/TitlePage_ICSIMA.pdf http://irep.iium.edu.my/40301/12/40301_Robust%20adaptive%20LQR%20control%20of%20nonlinear%20system_Scopus.pdf

id	iium-40301
recordtype	eprints
spelling	iium-403012017-09-20T12:19:17Z http://irep.iium.edu.my/40301/ Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system Boby, Rounaqul Islam Mansor, Hasmah Gunawan, Teddy Surya Khan, Sheroz TK Electrical engineering. Electronics Nuclear engineering This paper contains a new proposed regarding on robust adaptive control method merge with Linear-Quadratic Regulator (LQR), to design a faster response controller for uncertain characterized three degree of freedom (3-DOF) flight control module. 3-DOF helicopter is a bench-top module use in laboratory for experimental purposes only. From the previous experiments, it has seen that the transient response of designed PD controller has significantly very large steady state error which is around 50%. For highly uncertain plants it is highly destructive. A 3-DOF flight control system or bench-top helicopter developed by Quanser is intrinsically nonlinear, unstable and totally uncertain because of the nature of three individual angles well-known as pitch, travel and elevation. The target of this proposed control design is to improve the performance of three angles control of 3-DOF helicopter by integration of LQR controller and robust adaptive controller. Usually standard adaptive controller will produce zero steady state error. But for achieving faster response with zero steady state error is quite difficult. Therefore, this paper proposed a robust adaptive with deadbeat algorithm to overcome the limitations. Our proposal is to introduce robustness to parameter uncertainties and disturbances, by using adaptive laws for the plant parameters’ uncertainty, as a replacement for the traditional ones. This controller may handle large parameter uncertainties and disturbance with rugged stability. The arbitrary combined optimizing method is engaged in this design to optimize the overall performance of the controller. Simulation results and equations are used to demonstration the effectiveness of the proposed control methodology. 2014-11-25 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/40301/1/1570055211.pdf application/pdf en http://irep.iium.edu.my/40301/5/TOC_ICSIMA.pdf application/pdf en http://irep.iium.edu.my/40301/6/TitlePage_ICSIMA.pdf application/pdf en http://irep.iium.edu.my/40301/12/40301_Robust%20adaptive%20LQR%20control%20of%20nonlinear%20system_Scopus.pdf Boby, Rounaqul Islam and Mansor, Hasmah and Gunawan, Teddy Surya and Khan, Sheroz (2014) Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system. In: IEEE International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA 2014), 25-27 Nov 2014, Kuala Lumpur. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7047443&tag=1
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Boby, Rounaqul Islam Mansor, Hasmah Gunawan, Teddy Surya Khan, Sheroz Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
description	This paper contains a new proposed regarding on robust adaptive control method merge with Linear-Quadratic Regulator (LQR), to design a faster response controller for uncertain characterized three degree of freedom (3-DOF) flight control module. 3-DOF helicopter is a bench-top module use in laboratory for experimental purposes only. From the previous experiments, it has seen that the transient response of designed PD controller has significantly very large steady state error which is around 50%. For highly uncertain plants it is highly destructive. A 3-DOF flight control system or bench-top helicopter developed by Quanser is intrinsically nonlinear, unstable and totally uncertain because of the nature of three individual angles well-known as pitch, travel and elevation. The target of this proposed control design is to improve the performance of three angles control of 3-DOF helicopter by integration of LQR controller and robust adaptive controller. Usually standard adaptive controller will produce zero steady state error. But for achieving faster response with zero steady state error is quite difficult. Therefore, this paper proposed a robust adaptive with deadbeat algorithm to overcome the limitations. Our proposal is to introduce robustness to parameter uncertainties and disturbances, by using adaptive laws for the plant parameters’ uncertainty, as a replacement for the traditional ones. This controller may handle large parameter uncertainties and disturbance with rugged stability. The arbitrary combined optimizing method is engaged in this design to optimize the overall performance of the controller. Simulation results and equations are used to demonstration the effectiveness of the proposed control methodology.
format	Conference or Workshop Item
author	Boby, Rounaqul Islam Mansor, Hasmah Gunawan, Teddy Surya Khan, Sheroz
author_facet	Boby, Rounaqul Islam Mansor, Hasmah Gunawan, Teddy Surya Khan, Sheroz
author_sort	Boby, Rounaqul Islam
title	Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
title_short	Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
title_full	Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
title_fullStr	Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
title_full_unstemmed	Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system
title_sort	robust adaptive lqr control of nonlinear system application to 3-dof flight control system
publishDate	2014
url	http://irep.iium.edu.my/40301/ http://irep.iium.edu.my/40301/ http://irep.iium.edu.my/40301/1/1570055211.pdf http://irep.iium.edu.my/40301/5/TOC_ICSIMA.pdf http://irep.iium.edu.my/40301/6/TitlePage_ICSIMA.pdf http://irep.iium.edu.my/40301/12/40301_Robust%20adaptive%20LQR%20control%20of%20nonlinear%20system_Scopus.pdf
first_indexed	2023-09-18T20:57:48Z
last_indexed	2023-09-18T20:57:48Z
_version_	1777410421502771200

Robust adaptive LQR control of nonlinear system application to 3-Dof flight control system

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