Adaptive control design and experiments for LAAS “helicopter” benchmark. (English) Zbl 1293.93444
Summary: Application of the passification-based adaptive control technique for control of Quanser/LAAS “Helicopter” laboratory setup is presented. Two adaptive control laws for pitch angle control are designed and experimentally tested. The MATLAB/Simulink and WinCon software environment is used for adaptive control laws implementation and the real-world experiments. The experimental results demonstrate high closed loop system performance and robustness of the suggested control laws with respect to parametric uncertainties and unmodeled plant dynamics and actuator faults.
MSC:
| 93C40 | Adaptive control/observation systems |
| 93B40 | Computational methods in systems theory (MSC2010) |
| 93B35 | Sensitivity (robustness) |
| 93C95 | Application models in control theory |
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