IJE TRANSACTIONS B: Applications Vol. 32, No. 2 (February 2019) 236-241    Article in Press

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A. Ahifar, A. Ranjbar N. and Z. Rahmani
( Received: August 25, 2018 – Accepted in Revised Form: January 03, 2019 )

Abstract    In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and smoother response in tracking reference inputs in comparison to sliding mode control, intelligent autopilot controller and feedback linearization method.


Keywords    Helicopter, Nonlinear model, Multi input-Multi output, Synergetic control.



در این مقاله، یک تحقق کنترلی تقریباً جدید به نام کنترل ترمینال سینرجتیک که براساس مانیفولد تعریف شده توسط کاربر کار می‌کند به یک مدل غیرخطی هلی‌کوپتر اعمال می‌شود. تحلیل پایداری با استفاده از تئوری پایداری لیاپانوف مورد بررسی قرار گرفته است. کنترل‌کننده سینرجتیک ترمینال به این مدل غیرخطی مرتبه پنج هلی‌کوپتر برای کنترل ارتفاع و زاویه اعمال می‌شود. نتایج شبیه‌سازی نشان می‌دهد که این روش در مقایسه با روش کنترل مد لغزشی و کنترل‌کننده خلبان توماتیک هوشمند و روش خطی‌سازی فیدبک در ردیابی ورودی مرجع، پاسخ هموارتر و سریعتری ارائه می‌دهد.


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