Multi objective differential evolution H∞ controller for autonomous helicopter /
The growing interest in the applications of helicopter as unmanned aerial vehicle (UAV) has been attributed to its unique characteristics and advantages: it is able to take-off and land vertically within a limited space, it has potential to hover at a point and low altitude which is suitable for var...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur:
Kulliyyah of Engineering, International Islamic University Malaysia,
2013
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| Summary: | The growing interest in the applications of helicopter as unmanned aerial vehicle (UAV) has been attributed to its unique characteristics and advantages: it is able to take-off and land vertically within a limited space, it has potential to hover at a point and low altitude which is suitable for various inspectional and surveillance missions. However, unlike fixed-wing aircraft, these advantages are not without challenges. Due to complex nonlinear and unstable characteristics of the helicopter, the use of conventional Prediction Error Modeling (PEM) in the model development is characterized with the problem of parameters initialization. There exist challenges of optimal determination of controller parameters in the design of ¥ H control for such a complex dynamic system. Moreover, the development of flight control system (FCS) is generally characterized with difficult embedded programming effort. These may limit the applications of small scale autonomous helicopter in civil applications. Motivated by the need for a simplified and integrated design approach for FCS development, this study proposes an efficient flight control system with Multi Objective Differential Evolution (MODE)-based ¥ H for autonomous helicopter. Flight instrumentation was developed with the aid of an integrated MATLAB SIMULINK-based programming approach. Mathematical model of the helicopter based on the rigid body dynamics augmented with coupled rotor fuselage and active yaw damping dynamics is developed. A new hybrid system identification (sysID) algorithm comprises of Differential Evolution (DE) and PEM is proposed. The proposed hybrid sysID algorithm aids in overcoming the challenges of model parameters' initialization in the application of the PEM. The algorithm yielded a model with better performance with 30% improvement when compared with only PEM algorithm. Also, a novel MODE algorithm is proposed for flight controller design. This MODE algorithm is used to design an extended ¥ H Loop Shaping Design Procedure (LSDP) flight controller. This proposed MODE-based flight controller design facilitates the achievement of optimal compromise between timedomain and stability performance specifications. Satisfactory performance in line with Aeronautical Design Standard for Handling Qualities Requirements for Military Rotorcraft (ADS-33E) was obtained from analysis of the MODE- ¥ H controller in the presence of parametric uncertainty and wind disturbances. Based on classical stability analysis, the MODE- ¥ H provides gain and phase margins of 8.0dB and 51 degrees respectively, which satisfies the ADS33E minimum requirement of 3dB and 35 degree. Robust stability analysis using the structured singular value (μ -analysis) gave a lower bound of 0.374 and upper bound of 0.4823. This indicates the ability of the proposed MODE- ¥ H to guarantee stability of the system when uncertain elements is up to 107% outside the 10% parametric model uncertainty considered in the study. The rapid prototyping of the flight algorithm in real-time is facilitated with the proposed MATLAB-based embedded programming design. The real-time hovering test was conducted, and the designed FCS was able to stabilize the helicopter with the mean square error of 0.078 degree (deg.), 0.138 deg. and 0.02 deg./s in roll, pitch angles and yaw rate, respectively. |
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| Physical Description: | xxiv, 289 leaves : ill. ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 248-259). |