Order Reduction Approach to Velocity Sensorless Performance Recovery PD-type Attitude Stabilizer for 2-DOF Helicopter Applications

Seok Kyoon Kim; Kwan Soo Kim; Choon Ki Ahn

doi:10.1109/TII.2022.3143204

Order Reduction Approach to Velocity Sensorless Performance Recovery PD-type Attitude Stabilizer for 2-DOF Helicopter Applications

Seok Kyoon Kim, Kwan Soo Kim, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This study exhibits an order reduction output-feedback attitude stabilization scheme for 2-degree-of-freedom (2-DOF) helicopters by considering system nonlinearity and parameter variations in the controller and observer design tasks. As the first merit, the proposed observer for the angular velocity contains the disturbance estimation mechanism as a subsystem assisting the main estimator, which is independent of the system parameter information. As the second advantage, the resultant observer renders it possible to design an improved proportional-derivative-type controller that includes the active damping term and nonlinearly structured design parameters, reducing the closed-loop system order to 1. The Quanser 2-DOF helicopter system experimentally validates the practical merit of the proposed technique.

Original language	English
Journal	IEEE Transactions on Industrial Informatics
DOIs	https://doi.org/10.1109/TII.2022.3143204
Publication status	Accepted/In press - 2022

Keywords

2-DOF helicopter
Angular velocity
Angular velocity observer
Attitude control
Convergence
Cutoff frequency
Helicopters
Observers
Order reduction
Performance recovery
Task analysis

ASJC Scopus subject areas

Control and Systems Engineering
Information Systems
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TII.2022.3143204

Cite this

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title = "Order Reduction Approach to Velocity Sensorless Performance Recovery PD-type Attitude Stabilizer for 2-DOF Helicopter Applications",

abstract = "This study exhibits an order reduction output-feedback attitude stabilization scheme for 2-degree-of-freedom (2-DOF) helicopters by considering system nonlinearity and parameter variations in the controller and observer design tasks. As the first merit, the proposed observer for the angular velocity contains the disturbance estimation mechanism as a subsystem assisting the main estimator, which is independent of the system parameter information. As the second advantage, the resultant observer renders it possible to design an improved proportional-derivative-type controller that includes the active damping term and nonlinearly structured design parameters, reducing the closed-loop system order to 1. The Quanser 2-DOF helicopter system experimentally validates the practical merit of the proposed technique.",

keywords = "2-DOF helicopter, Angular velocity, Angular velocity observer, Attitude control, Convergence, Cutoff frequency, Helicopters, Observers, Order reduction, Performance recovery, Task analysis",

author = "Kim, {Seok Kyoon} and Kim, {Kwan Soo} and Ahn, {Choon Ki}",

note = "Funding Information: This work was supported in part by the National Research Foundation of Korea (NRF), in part by the Korea Government (Ministry of Science and ICT) under Grant NRF-2021R1C1C1004380, in part by the Basic Science Research Program through the NRF funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF funded by the Korea Government (Ministry of Science and ICT) under Grant NRF- 2020R1A2C1005449. Paper no. TII-21-3993. Publisher Copyright: IEEE",

year = "2022",

doi = "10.1109/TII.2022.3143204",

language = "English",

journal = "IEEE Transactions on Industrial Informatics",

issn = "1551-3203",

publisher = "IEEE Computer Society",

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T1 - Order Reduction Approach to Velocity Sensorless Performance Recovery PD-type Attitude Stabilizer for 2-DOF Helicopter Applications

AU - Kim, Seok Kyoon

AU - Kim, Kwan Soo

AU - Ahn, Choon Ki

N1 - Funding Information: This work was supported in part by the National Research Foundation of Korea (NRF), in part by the Korea Government (Ministry of Science and ICT) under Grant NRF-2021R1C1C1004380, in part by the Basic Science Research Program through the NRF funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF funded by the Korea Government (Ministry of Science and ICT) under Grant NRF- 2020R1A2C1005449. Paper no. TII-21-3993. Publisher Copyright: IEEE

PY - 2022

Y1 - 2022

N2 - This study exhibits an order reduction output-feedback attitude stabilization scheme for 2-degree-of-freedom (2-DOF) helicopters by considering system nonlinearity and parameter variations in the controller and observer design tasks. As the first merit, the proposed observer for the angular velocity contains the disturbance estimation mechanism as a subsystem assisting the main estimator, which is independent of the system parameter information. As the second advantage, the resultant observer renders it possible to design an improved proportional-derivative-type controller that includes the active damping term and nonlinearly structured design parameters, reducing the closed-loop system order to 1. The Quanser 2-DOF helicopter system experimentally validates the practical merit of the proposed technique.

AB - This study exhibits an order reduction output-feedback attitude stabilization scheme for 2-degree-of-freedom (2-DOF) helicopters by considering system nonlinearity and parameter variations in the controller and observer design tasks. As the first merit, the proposed observer for the angular velocity contains the disturbance estimation mechanism as a subsystem assisting the main estimator, which is independent of the system parameter information. As the second advantage, the resultant observer renders it possible to design an improved proportional-derivative-type controller that includes the active damping term and nonlinearly structured design parameters, reducing the closed-loop system order to 1. The Quanser 2-DOF helicopter system experimentally validates the practical merit of the proposed technique.

KW - 2-DOF helicopter

KW - Angular velocity

KW - Angular velocity observer

KW - Attitude control

KW - Convergence

KW - Cutoff frequency

KW - Helicopters

KW - Observers

KW - Order reduction

KW - Performance recovery

KW - Task analysis

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U2 - 10.1109/TII.2022.3143204

DO - 10.1109/TII.2022.3143204

M3 - Article

AN - SCOPUS:85123384149

SN - 1551-3203

JO - IEEE Transactions on Industrial Informatics

JF - IEEE Transactions on Industrial Informatics

ER -

Order Reduction Approach to Velocity Sensorless Performance Recovery PD-type Attitude Stabilizer for 2-DOF Helicopter Applications

Abstract

Keywords

ASJC Scopus subject areas

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