Graduate Project

A multi-input multi-output self tuning regulator for nonlinear helicopter control

This project aims at designing an on-line controller in the form of a Multi Input Multi Output Self Tuning Regulator, to stabilize a 6 degree of freedom helicopter in hover state. The project objective is accomplished in four stages: physical analysis of helicopter, system modeling, system identification and an adaptive controller design. Following the helicopter physical analysis, a non-linear minimum-complexity simulation math model is developed. Then the algorithm system identification is then derived followed by the on-line controller development and assessment. The off-line controller is designed with the linearized model based on the helicopter model from stage two. In the end, a serious of test scenarios is used to test the performance of the designed controllers. Simulation results show that both robust optimal controller and the developed on-line adaptive controller provide good performance near the operation region, but the adaptive controller has better control ability and improved performance over the off-line robust controller under changing operating conditions.

Chico State is committed to accessibility. If you have any problems accessing this material, please contact the Accessibility Resource Center at (530) 898-5959 or submit an Accessible Content service ticket.

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.