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

^*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

2 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	1067-1072
Sayfa sayısı	6
ISBN (Elektronik)	9798350310375
DOI'lar	https://doi.org/10.1109/ICUAS57906.2023.10155816
Yayın durumu	Yayınlandı - 2023
Harici olarak yayınlandı	Evet
Etkinlik	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 - Warsaw, Poland Süre: 6 Haz 2023 → 9 Haz 2023

Yayın serisi

Adı	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Ülke/Bölge	Poland
Şehir	Warsaw
Periyot	6/06/23 → 9/06/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

Belgeye Erişim

10.1109/ICUAS57906.2023.10155816

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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).

@inproceedings{9a605c5259024853ba94a67601f5f87a,

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.",

pages = "1067--1072",

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

address = "United States",

}

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).

Araştırma sonucu: ???type-name??? › Konferans katkısı › bilirkişi

TY - GEN

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.

UR - http://www.scopus.com/inward/record.url?scp=85165638324&partnerID=8YFLogxK

U2 - 10.1109/ICUAS57906.2023.10155816

DO - 10.1109/ICUAS57906.2023.10155816

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.

T2 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

Y2 - 6 June 2023 through 9 June 2023

ER -

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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