Arican, Ahmet Cagri (Gazi University), Copur, Engin Hasan (Necmettin Erbakan University), Inalhan, Gokhan (Cranfield University), Salamci, Metin U. (Gazi University)

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

Scheduled for presentation during the Regular Session "Control Architectures I" (FrA4), Friday, June 9, 2023, 10:30−10:50, Room 465

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the eigenvalues of the closed-loop matrix to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.