TP model transformation based stabilization of a 3-DOF RC helicopter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the effectiveness of a recently proposed numerical control design methodology in the stabilization control design of a 3-DOF RC helicopter. This control methodology is the combination of the TP (Tensor Product) model transformation and the PDC (Parallel Distributed Compensation) framework. First we recall the nonlinear model of the RC helicopter, then we execute the TP model transformation on the simplified model to yield its TP model (or Takagi-Sugeno fuzzy model) representation, with specific characteristics, whereupon the PDC framework can immediately be applied. Beyond the stabilization we take into account practical performance considerations in terms of good speed of response and small control effort to avoid actuator saturations. Simulation results are included to validate the control design. It will be pointed out that the resulting controller is equivalent with the one successfully applied in the real control experiment of the helicopter presented in a recent paper.

Original languageEnglish
Title of host publicationProceedings of the 5th International Conference on Control and Automation, ICCA'05
Pages443-448
Number of pages6
Publication statusPublished - 2005
Event5th International Conference on Control and Automation, ICCA'05 - Budapest, Hungary
Duration: Jun 27 2005Jun 29 2005

Other

Other5th International Conference on Control and Automation, ICCA'05
CountryHungary
CityBudapest
Period6/27/056/29/05

Fingerprint

Helicopters
Tensors
Stabilization
Actuators
Controllers
Experiments
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Baranyi, P., Tanaka, K., & Korondi, P. (2005). TP model transformation based stabilization of a 3-DOF RC helicopter. In Proceedings of the 5th International Conference on Control and Automation, ICCA'05 (pp. 443-448). [TA2-2.4]

TP model transformation based stabilization of a 3-DOF RC helicopter. / Baranyi, Péter; Tanaka, Kazuo; Korondi, Péter.

Proceedings of the 5th International Conference on Control and Automation, ICCA'05. 2005. p. 443-448 TA2-2.4.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Baranyi, P, Tanaka, K & Korondi, P 2005, TP model transformation based stabilization of a 3-DOF RC helicopter. in Proceedings of the 5th International Conference on Control and Automation, ICCA'05., TA2-2.4, pp. 443-448, 5th International Conference on Control and Automation, ICCA'05, Budapest, Hungary, 6/27/05.
Baranyi P, Tanaka K, Korondi P. TP model transformation based stabilization of a 3-DOF RC helicopter. In Proceedings of the 5th International Conference on Control and Automation, ICCA'05. 2005. p. 443-448. TA2-2.4
Baranyi, Péter ; Tanaka, Kazuo ; Korondi, Péter. / TP model transformation based stabilization of a 3-DOF RC helicopter. Proceedings of the 5th International Conference on Control and Automation, ICCA'05. 2005. pp. 443-448
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