Adaptive Neural Control of a 2DOF Helicopter with Input Saturation and Time-Varying Output Constraint
Abstract
:1. Introduction
- (i)
- The time-varying output of the system is solved using TVBLF to keep the system output within a time-varying region.
- (ii)
- (iii)
- In the simulation results, the superiority of the control strategy proposed in this study is demonstrated based on the comparison results of multiple sets of simulations.
2. Problem Formulation and Preliminaries
2.1. Problem Formulation
2.2. Preliminaries
3. Controller Design and Stability Analysis
4. Simulation
4.1. Case 1: Under the Proposed Control
4.2. Case 2: Under the Proposed Control without Time-Varying Output Constraint
4.3. Case 3: Under the Proposed Control without Input Saturation
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Symbol | Parameter | Value | Unit |
---|---|---|---|
Pitch axis moment of inertia | 0.0215 | kg · m2 | |
Yaw axis moment of inertia | 0.0237 | kg · m2 | |
Weight of the body | 1.0750 | kg | |
Pitch axial coefficient of viscous friction | 0.0071 | N/V | |
Yaw axial coefficient of viscous friction | 0.0220 | N/V | |
Length from the center of mass to the fixing point of the body frame | 0.002 | m | |
Torque thrust gain | 0.022 | N·m/V | |
Torque thrust gain | 0.0221 | N·m/V | |
Torque thrust gain | −0.0227 | N·m/V | |
Torque thrust gain | 0.0022 | N·m/V | |
Gravitational acceleration | 9.8 | m/s2 |
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Wu, B.; Wu, J.; Zhang, J.; Tang, G.; Zhao, Z. Adaptive Neural Control of a 2DOF Helicopter with Input Saturation and Time-Varying Output Constraint. Actuators 2022, 11, 336. https://doi.org/10.3390/act11110336
Wu B, Wu J, Zhang J, Tang G, Zhao Z. Adaptive Neural Control of a 2DOF Helicopter with Input Saturation and Time-Varying Output Constraint. Actuators. 2022; 11(11):336. https://doi.org/10.3390/act11110336
Chicago/Turabian StyleWu, Bing, Jiale Wu, Jian Zhang, Guojian Tang, and Zhijia Zhao. 2022. "Adaptive Neural Control of a 2DOF Helicopter with Input Saturation and Time-Varying Output Constraint" Actuators 11, no. 11: 336. https://doi.org/10.3390/act11110336