Investigation of the Effect of Adaptation Rate Variable on a Laboratory Helicopter Using Adaptive Controller Design

BEDRETTİN MAHMUT KOCAGİL

doi:https://doi.org/10.56753/ASREL.2024.2.2

BEDRETTİN MAHMUT KOCAGİL, Engin Hasan Çopur, Metin Salamcı

Year : 2024
Vol : 3
Issue : 2
Page : 79-96

DOI : https://doi.org/10.56753/ASREL.2024.2.2

Model Reference Adaptive Controllers (MRAC) are widely used control designs suitable for systems with unmodeled dynamics or parameter uncertainties. The primary goal in MRAC design is to minimize or eliminate the error between the selected reference model and the system to be controlled. While the controller reduces the error over time, smooth tracking of the reference model at all times is also desired. Therefore, the convergence rate to the reference model response, directly linked to the adaptation rate, is crucial when designing the adaptation rule. Conventional adaptation rule designs may struggle with large or rapid tracking error changes unless the adaptation rate is set to very high values. In some cases, a priori knowledge of the system’s dynamics may be required, as even high adaptation rates may not guarantee success without such information. Additionally, compatibility between system dynamics and reference model dynamics can significantly enhance adaptation success and tracking performance. In this study, the reference model is designed as a nonlinear system, more suitable for the nature of the physical system being controlled compared to classical methods. The research investigates the impact of the adaptation rate variable, a key factor in the adaptation rule, on a physical system controlled with an MRAC designed using a nonlinear reference model. A three-degree-of-freedom helicopter system is simulated to evaluate the proposed MRAC design. Comparisons are made across two axes for helicopter position control. Each MRAC configuration is tested with identical variables, except for the adaptation rate, to assess how well the reference system is followed under different adaptation rules.

Cite this Article As : Kocagil, B. M., Çopur, E. H., & Salamcı, M. U. (2024). Adaptif kontrolcü tasarımı kullanılarak laboratuvar helikopteri üzerinde adaptasyon hız değişkeni etkisinin incelenmesi. Aerospace Research Letters (ASREL), 3(2), 79-96. https://doi.org/10.56753/ASREL.2024.2.2

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Investigation of the Effect of Adaptation Rate Variable on a Laboratory Helicopter Using Adaptive Controller Design, Research Article,
2024, Vol. 3 (2)

Received : 31.10.2024, Accepted : 18.11.2024 , Published Online : 27.12.2024