Robust adaptive control of nonlinear system based on QFT application to 3DOF flight control system /
This research is a development of a hybrid controller design constructed by robust and adaptive controller application to three degree of freedom (3 DOF) helicopter flight control model. 3 DOF helicopter model is a lab developed benchmark model of actual helicopter with operation of nonlinearities,...
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2017
|
| Subjects: | |
| Online Access: | http://studentrepo.iium.edu.my/handle/123456789/5190 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This research is a development of a hybrid controller design constructed by robust and adaptive controller application to three degree of freedom (3 DOF) helicopter flight control model. 3 DOF helicopter model is a lab developed benchmark model of actual helicopter with operation of nonlinearities, time variable and strong motor coupling system. Pitch, travel & elevator are the angles of 3 DOF model and it is usually renowned for uncertainty characteristics, unmodeled dynamics, affected by disturbances, measurement noise and many more. The objectives of this research are to design and develop hybrid controller to control those uncertain characteristics of the 3 DOF model then verify the performance and make comparison with existing controller. Adaptive controller is a constant gain feedback controller that can be adapted with plant's parameter changes within certain bounds. Quantitative feedback theory is a frequency domain design method that uses the nichol's-chart (NC) to achieve a desired robust design according to the plant parameter uncertainties. Both controllers have the ability to deal with uncertainty and unmodeled dynamics. Our aim of this research is to design a hybrid controller and control the 3 DOF helicopter model with the controller in an efficient way. Also, the controller would have the ability to satisfy all the uncertain characteristics of the 3 DOF model ensuring required adaptability and survivability. To achieve the objectives of the research, mathematical model of the controller, for every individual angle of 3 DOF model has been developed. The validation of results has been performed via MATLAB-Simulink. Result shows that the controller performs comparatively better than existing PID controller. Again, from the mathematical model obtained, QFT controller has been designed based on desired specifications using QFT toolbox. Several tests have been conducted with individual controllers', then the combined controllers with existing controllers and later with the proposed controller. At the end, the proposed hybrid controller has been applied to the 3 DOF helicopter model and determined the best performance of controller after several corrections. This research ends with the determination of best performance of the proposed hybrid controller for the 3 DOF helicopter model. Our results showed quite good performance of the hybrid controller to compare with other existing combined controller in case of adaptability with uncertainty. |
|---|---|
| Physical Description: | xvi, 112 leaves : illustrations ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 102-105). |