Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter
In this paper, this design was a Nonlinear Energy-based Control Method (NEM) controller for a Three degree-of-freedom (3 DOF) Helicopter developed by Quanser. It is a control design technique that exploits the energy state of a system to achieve stabilization and/or tracking. There are four stages...
| Main Authors: | , , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2011
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5393/ http://irep.iium.edu.my/5393/1/ICOM11_pharmayeni.pdf |
| _version_ | 1848776495467593728 |
|---|---|
| author | , Pharmayeni Akmeliawati, Rini Legowo, Ari |
| author_facet | , Pharmayeni Akmeliawati, Rini Legowo, Ari |
| author_sort | , Pharmayeni |
| building | IIUM Repository |
| collection | Online Access |
| description | In this paper, this design was a Nonlinear Energy-based Control Method (NEM) controller for a Three degree-of-freedom (3 DOF) Helicopter developed by Quanser. It is a control design technique that exploits the energy state of a system to achieve stabilization and/or tracking. There are
four stages to design NEM controller, which are: energy-based modeling of helicopter dynamics using Euler-Lagrange formalism; design of the NEM controller based on passivity principle and Lyapunov stability idea; tuning the controller
gain(s) to satisfy the design criteria and robustness
analysis.
|
| first_indexed | 2025-11-14T14:31:00Z |
| format | Proceeding Paper |
| id | iium-5393 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:31:00Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-53932012-02-28T01:49:16Z http://irep.iium.edu.my/5393/ Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter , Pharmayeni Akmeliawati, Rini Legowo, Ari TJ212 Control engineering In this paper, this design was a Nonlinear Energy-based Control Method (NEM) controller for a Three degree-of-freedom (3 DOF) Helicopter developed by Quanser. It is a control design technique that exploits the energy state of a system to achieve stabilization and/or tracking. There are four stages to design NEM controller, which are: energy-based modeling of helicopter dynamics using Euler-Lagrange formalism; design of the NEM controller based on passivity principle and Lyapunov stability idea; tuning the controller gain(s) to satisfy the design criteria and robustness analysis. 2011 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/5393/1/ICOM11_pharmayeni.pdf , Pharmayeni and Akmeliawati, Rini and Legowo, Ari (2011) Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), 17-19 May, 2011, Kuala Lumpur, Malaysia. http://dx.doi.org/10.1109/ICOM.2011.6016111 doi:10.1109/ICOM.2011.6016111 |
| spellingShingle | TJ212 Control engineering , Pharmayeni Akmeliawati, Rini Legowo, Ari Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title | Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title_full | Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title_fullStr | Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title_full_unstemmed | Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title_short | Development of nonlinear energy-based method (NEM) controller for 3 DOF helicopter |
| title_sort | development of nonlinear energy-based method (nem) controller for 3 dof helicopter |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/5393/ http://irep.iium.edu.my/5393/ http://irep.iium.edu.my/5393/ http://irep.iium.edu.my/5393/1/ICOM11_pharmayeni.pdf |