Implementation of Model Reference Adaptive Controller with Fractional Order Adjustment Rules for Coaxial Rotor Control Test System

Year 2016, Volume: 4 Issue: 2, 84 - 88, 30.09.2016

Gurkan Kavuran , Baris Baykant Alagoz , Abdullah Ates , Celaleddin Yeroglu

Abstract

In this study, an experimental test platform of a low-cost coaxial rotors has been developed for implementation of Model Reference Adaptive Controller (MRAC) with Fractional Order Adjustment Rules by using MATLAB/Simulink. This paper provides a design method of MRAC with fractional order adjustment rule (FOAR-MRAC) that is implemented on a hardware based on ARM microcontroller. Setup of the test platform is presented and its performance is evaluated with real-time experimental measurements. This experimental study is useful to show the utilization of fractional order control systems on engineering applications by using low-cost hardware.

Keywords

Adaptive PID controller, DC rotor control, fractional order integrator, model reference adaptive control, TRMS

References

• [1] J.G. Leishman, Principles of Helicopter Aerodynamics, Cambridge University Press, p. 8, 2006. [2] P.V. Osburn, H.P. Whitaker, A. Kezer, Comparative studies of systems, Institute of Aeronautical Science, pp. 61–39, 1961. [3] I.D. Landau, Adaptive Control the Model Reference Approach, Marcel Dekker: NY, USA, 1979. [4] K.J. Astrom, B. Wittenmark, Adaptive Control, Addison-Wesley, Reading, MA, USA, 1995. [5] B.M. Vinagre, I. Petrás, I. Podlubny, Y.Q. Chen, “Using fractional order adjustment rules and fractional order reference models in model-reference adaptive control”, Nonlinear Dynamics, Vol.29, pp. 269-279. 2001. [6] M.D. Bernardo, U. Montanaro, J.M. Olm, S. Santini, “Model reference adaptive control of discrete time piecewise linear systems”, International Journal of Robust and Nonlinear Control, Vol.23, pp.709-730. 2013. [7] K.A. Mohideen, G. Saravanakumar, K. Valarmathi, D. Devaraj, T.K. Radhakrishnan, “Real-coded Genetic Algorithm for system identification and tuning of a modified Model Reference Adaptive Controller for a hybrid tank system”, Applied Mathematical Modeling, Vol.37, pp.3829-3847, 2013. [8] T.A.V. Ravi, C. Chakraborty, S. Maiti, Y. Hori, “A new model reference adaptive controller for four quadrant vector controlled induction motor drives”, IEEE Transactions on Industrial Electronics, Vol.59, pp.3757-3767, 2012. [9] L. Guo, L. Parsa, “Model Reference Adaptive Control of Five-P IPM Motors Based on Neural Network”, IEEE Transactions on Industrial Electronics, Vol.59, pp.1500 – 1508, 2012. [10] Y. Liu, Y. Jia, “Adaptive leader-following consensus control of multi-agent systems using model reference adaptive control approach”, IET Control Theory & Applications, Vol.6, pp.2002-2008, 2012. [11] Z. Peng, D. Wang, H. Zhang, G. Sun, H. Wang, “Distributed model reference adaptive control for cooperative tracking of uncertain dynamical multi-agent systems”, IET Control Theory & Applications, Vol.7, pp.1079-1087, 2013. [12] H. Wu, M. Deng, “Robust adaptive control scheme for uncertain non-linear model reference adaptive control systems with time-varying delays”, IET Control Theory & Applications, Vol.9, pp.1181-1189, 2015. [13] B. Jiang, Z. Gao, P. Shi, Y. Xu, “Adaptive fault-tolerant tracking control of near-space vehicle using Takagi–Sugeno fuzzy models”, IEEE Transactions on Fuzzy Systems, Vol.18, pp.1000-1007, 2010. [14] I. Sadeghzadeh, A. Mehta, Y. Zhang, C.A. Rabbath, “Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control”, Annual Conference of the Prognostics and Health Management Society, Montreal, Canada, pp. 1-10, 2011. [15] B.B. Alagoz, A. Ates, C. Yeroglu, “Auto-tuning of PID controller according to fractional-order reference model approximation for DC rotor control”, Mechatronics, Vol.23, pp.789–797, 2013. [16] I. Petras, Fractional-order nonlinear systems: modeling, analysis and simulation, Springer, Higher Education Press, Beijing, China, 2011. [17] C. Yeroglu, A. Ates, “A stochastic multi-parameters divergence method for online auto-tuning of fractional order PID controllers”, Journal of the Franklin Institute, Vol.351, pp.2411-2429, 2014. [18] C. Yeroglu, G. Kavuran, “Sliding mode controller design with fractional order differentiation: applications for unstable time delay systems”, Turkish Journal of Electrical Engineering & Computer Sciences, Vol.22, pp.1270-1286, 2014. [19] D. Sierociuk, I. Podlubny, I. Petras, “Experimental evidence of variable-order behavior of ladders and nested ladders”, Control Systems Technology, Vol.21, pp.459-466, 2013. [20] Y.Q. Chen, B.M. Vinagre, I. Podlubny, “Continued fraction expansion approaches to discretizing fractional order derivatives an expository review”, Nonlinear Dynamics, Vol.38, pp.155-170, 2004. [21] E. Lavretsky, Adaptive control: Introduction, overview, and applications, NASA Adaptive Control Workshop 2009, NASA Marshall Space Center, Huntsvill, USA, 2009.