139415 5 1 -12

mme.modares.ac.ir

: Please cite this article using:

M. Navabi, H.R. Mirzaei, Dynamic Modeling and Nonlinear Adaptive Control of Mesicopter Flight, Modares Mechanical Engineering Vol. 15, No. 5, pp. 1-12, 2015 (In Persian)

1*2

1- 2- - * 1983963113m_navabi@sbu.ac.ir

:04 1393 :09 1393

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Dynamic Modeling and Nonlinear Adaptive Control of Mesicopter Flight

Mohammad Navabi*, Hamidreza Mirzaei

Faculty of New Technologies Engineering, Shahid Beheshti University, Tehran, Iran.P.O.B. 1983963113 Tehran, Iran, m_navabi@sbu.ac.ir

ARTICLE INFORMATION ABSTRACTOriginal Research PaperReceived 26 September 2014Accepted 28 February 2015Available Online 04 April 2015

This paper presents dynamic modeling, classical and nonlinear control of flight of mesicopter.First, nonlinear multiple-input multiple-output model is derived taking into consideration thebody and rotor gyroscopic effects, then three classical control methods for fast response with highperformance are used and compared with respect to control effort. Mesicopters are alwaysaffected by uncertainties. Classical approach is not able to properly compensate these effects. Toovercome this problem, model reference adaptive control is used with three different types basedon single-input single-output linear equations, multiple-input multiple-output linear equationsand nonlinear multiple-input multiple-output equations. Based on the simulation results, theadaptive control method with estimation mechanism improved performance, attitudestabilization and control of system states in different conditions. Stability is guaranteed byLyapunov stability theory. Results demonstrate good performance of adaptive control forparameter uncertainty compensation.

Keywords:MesicopterNonlinear ControlOptimal ControlAdaptive Control

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