H∞ Robust Stability Augmentation System Design by Genetic Optimal Coefficient for HUAV MIMO Model with Coupled Dynamics

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Salamati Z.; FARAJI A.; Nejati Z.

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Journal: NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ Year:2021 | Volume:19 | Issue:1 Page(s): 67-72

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Title

H∞ Robust Stability Augmentation System Design by Genetic Optimal Coefficient for HUAV MIMO Model with Coupled Dynamics

Author(s)

Salamati Z. | FARAJI A. | Nejati Z. | Issue Writer Certificate

Keywords

Unmanned helicopterQ1

stability augmentation system (SAS)Q1

hover modeQ1

genetic robust controller designQ1

decoupled dynamicsQ1

Abstract

Nowadays, Unmanned helicopters are used widely in many applications because they have high maneuverability and can take off and landing in many areas, and its stability has special importance. Without stability augmentation system (SAS), the helicopter is not maneuverable. Stability augmentation system or SAS design for helicopter decreases disturbances effects and improve performance. In this paper a robust SAS is designed for nonlinear dynamic model of ANCL helicopter in hover mode, this model is unstable, multivariable, under-actuated with coupling between dynamics Due to specific characteristics for liner model of the system in this paper, some filters are designed for input signals of actuators for decoupling of system dynamics in closed loop system, so these loops will become decoupled. PI controller is conventional to design of SAS in small helicopters, so PI coefficients are designed robustly for each decoupled control loop and this is designed by H_∞ Robust problem and optimized by genetic algorithm. Finally, obtained controllers are simulated for nonlinear model helicopter in hover mode that results show robustness against of nonlinear model uncertainty and disturbances.

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APA: Copy

Salamati, Z., FARAJI, A., & Nejati, Z.. (2021). H∞ Robust Stability Augmentation System Design by Genetic Optimal Coefficient for HUAV MIMO Model with Coupled Dynamics. NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ, 19(1 ), 67-72. SID. https://sid.ir/paper/387643/en

Vancouver: Copy

Salamati Z., FARAJI A., Nejati Z.. H∞ Robust Stability Augmentation System Design by Genetic Optimal Coefficient for HUAV MIMO Model with Coupled Dynamics. NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ[Internet]. 2021;19(1 ):67-72. Available from: https://sid.ir/paper/387643/en

IEEE: Copy

Z. Salamati, A. FARAJI, and Z. Nejati, “H∞ Robust Stability Augmentation System Design by Genetic Optimal Coefficient for HUAV MIMO Model with Coupled Dynamics,” NASHRIYYAH -I MUHANDISI -I BARQ VA MUHANDISI -I KAMPYUTAR -I IRAN, A- MUHANDISI -I BARQ, vol. 19, no. 1 , pp. 67–72, 2021, [Online]. Available: https://sid.ir/paper/387643/en

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