CONTROLLER DESIGNS FOR NONLINEAR SYSTEMS WITH APPLICATION TO 3 DOF HELICOPTER MODEL

Year 2017, Volume: 4 Issue: 3, 47 - 66, 28.09.2017

Bedrettin Mahmut Kocagil , Ahmet Çağrı Arıcan , Ümit Müfit Güzey Sinan Özcan Metin U. Salamci

Abstract

The paper introduces different
control design methods for nonlinear systems with their application to the
nonlinear mathematical model of a 3 DOF helicopter. Recent studies on the
control design approaches, such as State Dependent Riccati Equation based
optimal controller, Model Reference Adaptive Control and Sliding Mode Control,
are reviewed and design methodologies are given. Then the mathematical model of
a 3 DOF helicopter dynamics is derived and simplified with the software called CIFER.
By using the simplified mathematical model of the 3 DOF helicopter, the control
algorithms are applied to the model in order to explore the performances of the
controllers. The results are given in the simulation environment. The paper is
presented in a tutorial manner in order to explain the applications of the
proposed nonlinear control methodologies.

Keywords

Nonlinear Systems, Controller Design, State Dependent Riccati Equations, Sliding Mode Control, Model Reference Adaptive Control

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