DOI QR코드

DOI QR Code

Tiltrotor Attitude Control Using L1 Adaptive Controller

L1 적응제어기법을 이용한 틸트로터기의 자세제어

  • Published : 2008.12.01

Abstract

A design of attitude controller for a tiltrotor is presented augmenting L1 adaptive control, neural networks, and feedback linearization. The neural networks compensate for the modeling error caused by the lack of knowledge of tiltrotor dynamics while the L1 adaptive control allows high adaptation gains in adaptation laws thereby, satisfying tracking performance requirement. The efficacy of this control methodology is illustrated in high-fidelity nonlinear simulation of a tiltrotor by flying the tiltrotor in different flight modes from where the L1 adaptive controller with neural networks is originally designed for.

Keywords

References

  1. 김기석, 이금진, 김유단, '직접 적응기법을 이용한 모델추종 재형상 비행제어시스템 설계,' 제어.자동화.시스템공학논문지, 9권 4호, pp. 320-328, 2003
  2. 왕현민, 허경무, 우광준, '개선된 신경망을 이용한 헬리콥터 고도 제어기 설계,' 제어.자동화.시스템공학 논문지, 7권 3호, pp.229-237, 2001
  3. 최진영, 좌동경, 송찬호, '매개변수화 어파인 모델에 기반한 꼬리날개제어 유도탄의 적응제어,' 제어.자동화.시스템공학논문지, 9권, 7호, pp. 547-555, 2003
  4. 김승수, 서우석, 양순용, 이병룡, 안경관, '적응제어 및 시스템 규명을 이용한 Field Robot의 궤적제어,' 제어.자동화.시스템공학논문지, 8권, 9호, pp. 728-735, 2002
  5. 이계홍, 이판묵, 이상정, '신경회로망을 이용한 자율무인잠수정의 적응제어,' 제어.자동화.시스템공학논문지, 8권, 12호, pp. 1023-1030, 2002
  6. A. Yesildirek and F. Lewis, 'Feedback Linearization using Neural Networks,' Automatica, vol. 31, no. 11, pp. 1659-1664, 1995 https://doi.org/10.1016/0005-1098(95)00078-B
  7. F. Lewis, A. Yesildirek, and K. Liu, 'Multilayer Neural-Net Robot Controller with Guaranteed Tracking Performance,' IEEE Transactions on Neural Networks, vol. 7, no. 2, pp. 388-399, 1996 https://doi.org/10.1109/72.485674
  8. C. Cao and N. Hovakimyan, 'Design and analysis of a novel L1 adaptive controller, Part I: Control signal and asymptotic stability,' American Control Conference, 2006
  9. C. Cao and N. Hovakimyan, 'Design and analysis of a novel L1 adaptive controller, Part II: Guaranteed transient performance,' American Control Conference, 2006
  10. 김낙완, 유창선, 강영신, '피드백 선형화를 이용한 L1 적응제어기법 연구,' 한국항공우주학회지, 36권, 6호, pp. 558-564, 2008 https://doi.org/10.5139/JKSAS.2008.36.6.558
  11. N. Kim, A. Calise, N. Hovakimyan, J. Prasad, and J. Corban, 'Adaptive Output Feedback for High-Bandwidth Flight Control,' Journal of Guidance, Control, and Dynamics, vol. 25, no. 6, pp. 993-1002, 2002 https://doi.org/10.2514/2.4985
  12. 한광호, 김부민, 김병수, '신경회로망을 이용한 틸트로터 항공기 SCAS 설계,' 제어.자동화.시스템공학논문지, 11권, 3호, pp. 233-239, 2005 https://doi.org/10.5302/J.ICROS.2005.11.3.233