Abstract
In this paper, the pitch angle control for a lab model helicopter is discussed. This problem has some specific features. As a main unusual feature, it is observed that the steady state control command is completely dependent on the setpoint, so error-based controllers do not suit this problem. Moreover, the system is of a highly oscillating dynamic. In order to solve this control problem, two controllers are designed, an artificial neural network, whose input is the setpoint, is used to provide steady state control command, and a fuzzy inference system ,whose input is error, is used to provide transient control command. The total control command is the sum of two aforementioned control commands. The system's robustness is also checked against any probable disturbance and parameter change. It is shown that the system is likely to be completely robust against any possible disturbance or parameter change in lab environment. In order make the system robust against a special kind of parameter change which is impossible to happen in the lab, a setpoint modification algorithm is offered to vanish the steady state error and provide a rather short settling time.
| Original language | English |
|---|---|
| Title of host publication | 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007 |
| Pages | 162-166 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2007 |
| Event | 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007 - Kuala Lumpur, Malaysia Duration: Nov 25 2007 → Nov 28 2007 |
Other
| Other | 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007 |
|---|---|
| Country | Malaysia |
| City | Kuala Lumpur |
| Period | 11/25/07 → 11/28/07 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
Cite this
Hybrid intelligent control of a lab model helicopter pitch dynamics. / Mohammadzaheri, Morteza; Chen, Ley.
2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007. 2007. p. 162-166 4658367.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Hybrid intelligent control of a lab model helicopter pitch dynamics
AU - Mohammadzaheri, Morteza
AU - Chen, Ley
PY - 2007
Y1 - 2007
N2 - In this paper, the pitch angle control for a lab model helicopter is discussed. This problem has some specific features. As a main unusual feature, it is observed that the steady state control command is completely dependent on the setpoint, so error-based controllers do not suit this problem. Moreover, the system is of a highly oscillating dynamic. In order to solve this control problem, two controllers are designed, an artificial neural network, whose input is the setpoint, is used to provide steady state control command, and a fuzzy inference system ,whose input is error, is used to provide transient control command. The total control command is the sum of two aforementioned control commands. The system's robustness is also checked against any probable disturbance and parameter change. It is shown that the system is likely to be completely robust against any possible disturbance or parameter change in lab environment. In order make the system robust against a special kind of parameter change which is impossible to happen in the lab, a setpoint modification algorithm is offered to vanish the steady state error and provide a rather short settling time.
AB - In this paper, the pitch angle control for a lab model helicopter is discussed. This problem has some specific features. As a main unusual feature, it is observed that the steady state control command is completely dependent on the setpoint, so error-based controllers do not suit this problem. Moreover, the system is of a highly oscillating dynamic. In order to solve this control problem, two controllers are designed, an artificial neural network, whose input is the setpoint, is used to provide steady state control command, and a fuzzy inference system ,whose input is error, is used to provide transient control command. The total control command is the sum of two aforementioned control commands. The system's robustness is also checked against any probable disturbance and parameter change. It is shown that the system is likely to be completely robust against any possible disturbance or parameter change in lab environment. In order make the system robust against a special kind of parameter change which is impossible to happen in the lab, a setpoint modification algorithm is offered to vanish the steady state error and provide a rather short settling time.
UR - http://www.scopus.com/inward/record.url?scp=57949108308&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=57949108308&partnerID=8YFLogxK
U2 - 10.1109/ICIAS.2007.4658367
DO - 10.1109/ICIAS.2007.4658367
M3 - Conference contribution
AN - SCOPUS:57949108308
SN - 1424413559
SN - 9781424413553
SP - 162
EP - 166
BT - 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007
ER -