Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter
This article covers the design, implementation, mathematical modelling, and control of a multivariable, underactuated, low-cost, three-degrees-of-freedom experimental helicopter system (namely a 3-DOF helicopter). The system is considered an essential benchmark for the development and evaluation of...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10500695/ |
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| author | Osamah Talal Makki Seyyed Sajjad Moosapour Saleh Mobayen Jafar Heyrani Nobari |
| author_facet | Osamah Talal Makki Seyyed Sajjad Moosapour Saleh Mobayen Jafar Heyrani Nobari |
| author_sort | Osamah Talal Makki |
| collection | DOAJ |
| description | This article covers the design, implementation, mathematical modelling, and control of a multivariable, underactuated, low-cost, three-degrees-of-freedom experimental helicopter system (namely a 3-DOF helicopter). The system is considered an essential benchmark for the development and evaluation of control algorithms and identification methods as it mimics real helicopters and UAVs. The system is multivariable and difficult to control due to its underactuation characteristics. In addition, it presents further challenges in modelling and control analysis in terms of high nonlinearity, coupling, uncertainty, and unmodeled dynamics. In this scene, the system is designed, developed, and operated virtually in SolidWorks using the necessary hardware and software. A new accurate multivariable coupled nonlinear mathematical model is derived and proposed. The model takes into account the complex dynamics and interactions between the system components, providing a more comprehensive representation of the real system compared to previous models. System parameters are then identified using the Sum of the Square Error (SSE) algorithm, and the mathematical model is compared to the practical results in many different scenarios via Simulink. Experimental tests confirmed the mathematical model and robust performance of the implemented experimental 3-DOF helicopter system, as well as the ability of the proposed controller to stabilize the helicopter and track different trajectories in the presence of uncertainties and cross-coupling effects. |
| format | Article |
| id | doaj-art-abd12b253a1c4ba3846697eb4ad87e63 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-abd12b253a1c4ba3846697eb4ad87e632025-01-16T00:01:12ZengIEEEIEEE Access2169-35362024-01-0112555685558610.1109/ACCESS.2024.338970310500695Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental HelicopterOsamah Talal Makki0https://orcid.org/0000-0002-9028-5673Seyyed Sajjad Moosapour1https://orcid.org/0000-0003-2393-0780Saleh Mobayen2https://orcid.org/0000-0002-5676-1875Jafar Heyrani Nobari3Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, IranFaculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, IranGraduate School of Intelligent Data Science, National Yunlin University of Science and Technology, Yunlin, Douliu, TaiwanDepartment of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, IranThis article covers the design, implementation, mathematical modelling, and control of a multivariable, underactuated, low-cost, three-degrees-of-freedom experimental helicopter system (namely a 3-DOF helicopter). The system is considered an essential benchmark for the development and evaluation of control algorithms and identification methods as it mimics real helicopters and UAVs. The system is multivariable and difficult to control due to its underactuation characteristics. In addition, it presents further challenges in modelling and control analysis in terms of high nonlinearity, coupling, uncertainty, and unmodeled dynamics. In this scene, the system is designed, developed, and operated virtually in SolidWorks using the necessary hardware and software. A new accurate multivariable coupled nonlinear mathematical model is derived and proposed. The model takes into account the complex dynamics and interactions between the system components, providing a more comprehensive representation of the real system compared to previous models. System parameters are then identified using the Sum of the Square Error (SSE) algorithm, and the mathematical model is compared to the practical results in many different scenarios via Simulink. Experimental tests confirmed the mathematical model and robust performance of the implemented experimental 3-DOF helicopter system, as well as the ability of the proposed controller to stabilize the helicopter and track different trajectories in the presence of uncertainties and cross-coupling effects.https://ieeexplore.ieee.org/document/10500695/Underactuated 3-DOF helicopternonlinear modelingparameter identificationcross-coupling control |
| spellingShingle | Osamah Talal Makki Seyyed Sajjad Moosapour Saleh Mobayen Jafar Heyrani Nobari Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter IEEE Access Underactuated 3-DOF helicopter nonlinear modeling parameter identification cross-coupling control |
| title | Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter |
| title_full | Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter |
| title_fullStr | Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter |
| title_full_unstemmed | Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter |
| title_short | Design, Mathematical Modeling, and Control of an Underactuated 3-DOF Experimental Helicopter |
| title_sort | design mathematical modeling and control of an underactuated 3 dof experimental helicopter |
| topic | Underactuated 3-DOF helicopter nonlinear modeling parameter identification cross-coupling control |
| url | https://ieeexplore.ieee.org/document/10500695/ |
| work_keys_str_mv | AT osamahtalalmakki designmathematicalmodelingandcontrolofanunderactuated3dofexperimentalhelicopter AT seyyedsajjadmoosapour designmathematicalmodelingandcontrolofanunderactuated3dofexperimentalhelicopter AT salehmobayen designmathematicalmodelingandcontrolofanunderactuated3dofexperimentalhelicopter AT jafarheyraninobari designmathematicalmodelingandcontrolofanunderactuated3dofexperimentalhelicopter |