Abstract
Abstract An adaptive control scheme based on dynamic surface control (DSC), and intelligent control techniques is developed for a 3-DOF helicopter with unknown disturbance and asymmetric saturation. The reconstructed dynamic neural network (NN) is established to compensate for nonlinear terms in real-time. A designed smooth nonlinear sigmoid function is used to model saturation nonlinearity. The combination of dynamic surface control with adaptive intelligent control techniques resolves and improves the tracking and robust performance of the system. The stability and ultimately bound of all signals of the controlled system are demonstrated by theoretical analysis. Numerical results prove the feasibility of the presented control scheme.
Published Version
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