Abstract
This research proposes ASC (Adaptive Synergetic Controller) for the nonlinear model of MH (Mini Helicopter) to stabilize the desired altitude and angle. The model of MH is highly nonlinear, underactuated and multivariable in nature due to its dynamic uncertainties and restrictions of velocities during the flight. ASC can force the tracking errors of the system states converges to zero in a finite interval of time. The MH system requires smooth controller and fast precise transition response from initial state till the desired state, therefore the parametric calculations and simulations can be done by the proposed ASC algorithm. It is validated that the above simulated results of the proposed controller have a better convergence rate and smoother stability response in order to track the desired altitude and angle when compared with SMC (Sliding Mode Controller). Moreover, it does not need any linearization, transformation and variations in the system model.
Highlights
This research proposes ASC (Adaptive Synergetic Controller) for the nonlinear model of MH (Mini Helicopter) to stabilize the desired altitude and angle
The synergetic control scheme is capable to update the dynamic performance of the system and complete system gains are fine-tuned by adaptive controller
For proper controlling, stabilizing altitude and heading angle of helicopter initially we require the stability of its nonlinear dynamics at different points commonly called as trim point conditions in control engineering [6,7,8]
Summary
Tand its simulation of X-Cell (50) Yamaha MH. It is established on the bases of differential and state space mathematical model [1,2,3]. The major contributions of this research are: (1) a new ASC is designed which is able to handle the uncertainty and auto tuning of control parameters; (2) the proposed controller uses two control input commands as macro variables for controlling and stabilizing the altitude and heading angle of helicopter; (3) the 5th degree (higher degree) nonlinear equation of helicopter is become controllable by applying the Chow’s theory; (4) the convergence rate of the synergetic controller provides the helicopter model to the desired altitude at short interval of time The breakup of this manuscript is structured as shown.
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