State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

Ahmet Cagri Arican; Engin Hasan Copur; Gokhan Inalhan; Metin U. Salamci

doi:10.1109/ICUAS57906.2023.10155816

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

Ahmet Cagri Arican^*, Engin Hasan Copur, Gokhan Inalhan, Metin U. Salamci

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the eigenvalues of the closed-loop matrix to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.

Original language	English
Title of host publication	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1067-1072
Number of pages	6
ISBN (Electronic)	9798350310375
DOIs	https://doi.org/10.1109/ICUAS57906.2023.10155816
Publication status	Published - 2023
Externally published	Yes
Event	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 - Warsaw, Poland Duration: 6 Jun 2023 → 9 Jun 2023

Publication series

Name	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

Conference

Conference	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Country/Territory	Poland
City	Warsaw
Period	6/06/23 → 9/06/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Access to Document

10.1109/ICUAS57906.2023.10155816

Cite this

Arican, A. C., Hasan Copur, E., Inalhan, G., & Salamci, M. U. (2023). State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model. In 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 (pp. 1067-1072). (2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS57906.2023.10155816

Arican, Ahmet Cagri ; Hasan Copur, Engin ; Inalhan, Gokhan et al. / State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model. 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 1067-1072 (2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023).

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title = "State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model",

abstract = "For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the eigenvalues of the closed-loop matrix to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.",

author = "Arican, {Ahmet Cagri} and {Hasan Copur}, Engin and Gokhan Inalhan and Salamci, {Metin U.}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023",

year = "2023",

doi = "10.1109/ICUAS57906.2023.10155816",

language = "English",

series = "2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023",

address = "United States",

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Arican, AC, Hasan Copur, E, Inalhan, G & Salamci, MU 2023, State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model. in 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, Institute of Electrical and Electronics Engineers Inc., pp. 1067-1072, 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, Warsaw, Poland, 6/06/23. https://doi.org/10.1109/ICUAS57906.2023.10155816

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model. / Arican, Ahmet Cagri; Hasan Copur, Engin; Inalhan, Gokhan et al.
2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 1067-1072 (2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

AU - Arican, Ahmet Cagri

AU - Hasan Copur, Engin

AU - Inalhan, Gokhan

AU - Salamci, Metin U.

PY - 2023

Y1 - 2023

N2 - For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the eigenvalues of the closed-loop matrix to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.

AB - For linear systems, a state feedback control law can be easily designed to keep all closed-loop poles inside a specified disk since the locations of the poles are unique. However, its application to nonlinear systems is not so simple. Therefore, this paper introduces a new pole placement method, named as State Dependent Regional Pole Assignment, for nonlinear systems. This proposed method produces a state dependent feedback control law, enabling the eigenvalues of the closed-loop matrix to be placed in a specified disk to achieve the desired control performance characteristics. The effectiveness of the method is tested on the 3 DOF Helicopter experimental setup. To verify its effectiveness, the experimental results of the nonlinear method are compared with those of the linear method.

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M3 - Conference contribution

AN - SCOPUS:85165638324

T3 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

SP - 1067

EP - 1072

BT - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

PB - Institute of Electrical and Electronics Engineers Inc.

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Arican AC, Hasan Copur E, Inalhan G, Salamci MU. State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model. In 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 1067-1072. (2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023). doi: 10.1109/ICUAS57906.2023.10155816

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model

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