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

Arıcan A. Ç., Çopur E. H., İnalhan G., Salamcı M. U.

2023 International Conference on Unmanned Aircraft Systems (ICUAS), Warszawa, Poland, 06 June 2023, pp.1067-1072 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/icuas57906.2023.10155816
  • City: Warszawa
  • Country: Poland
  • Page Numbers: pp.1067-1072
  • Gazi University Affiliated: Yes

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.