Adaptive Synergetic Controller for Stabilizing the Altitude and Angle of Mini Helicopter

  • Zain  Anwar Ali  School of Automation Engineering, South East University, Nanjing, Jiangsu, China.
  • And Li  Xinde  School of Automation Engineering, South East University, Nanjing, Jiangsu, China.

Abstract

This research proposes ASC (Adaptive Synergetic Controller) for the nonlinear model of MH (Mini Helicopter) to stabilize the desired altitude and angle. The model of MH is highly nonlinear, underactuated and multivariable in nature due to its dynamic uncertainties and restrictions of velocities during the flight. ASC can force the tracking errors of the system states converges to zero in a finite interval of time. The MH system requires smooth controller and fast precise transition response from initial state till the desired state, therefore the parametric calculations and simulations can be done by the proposed ASC algorithm. It is validated that the above simulated results of the proposed controller have a better convergence rate and smoother stability response in order to track the desired altitude and angle when compared with SMC (Sliding Mode Controller). Moreover, it does not need any linearization, transformation and variations in the system model.

Published
Apr 1, 2019
How to Cite
ALI, Zain  Anwar;  XINDE, And Li. Adaptive Synergetic Controller for Stabilizing the Altitude and Angle of Mini Helicopter. Mehran University Research Journal of Engineering and Technology, [S.l.], v. 38, n. 2, p. 251-258, apr. 2019. ISSN 2413-7219. Available at: <http://publications.muet.edu.pk/index.php/muetrj/article/view/942>. Date accessed: 18 apr. 2019.
Section
Articles
This is an open Access Article published by Mehran University of Engineering and Technolgy, Jamshoro under CCBY 4.0 International License