Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter

, Pharmayeni and Akmeliawati, Rini and Legowo, Ari (2011) Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), 17-19 May, 2011, Kuala Lumpur, Malaysia.

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Abstract

In this paper, this design was a Nonlinear Energy-based Control Method (NEM) controller for a Three degree-of-freedom (3 DOF) Helicopter developed by Quanser. It is a control design technique that exploits the energy state of a system to achieve stabilization and/or tracking. There are four stages to design NEM controller, which are: energy-based modeling of helicopter dynamics using Euler-Lagrange formalism; design of the NEM controller based on passivity principle and Lyapunov stability idea; tuning the controller gain(s) to satisfy the design criteria and robustness analysis.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5806/5393
Uncontrolled Keywords:	NEM; Passivity ; Lyapunov stability
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	02 Nov 2011 17:22
Last Modified:	28 Feb 2012 09:49
URI:	http://irep.iium.edu.my/id/eprint/5393

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