Robust Tracking Control for 3 DOF Helicopter Based on Least Squares Support Vector Machine

Jing Mei Zhang; Lei Xue; Rui Min Zhang; Chang Yin Sun

doi:10.4028/www.scientific.net/AMM.313-314.370

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 313-314Robust Tracking Control for 3 DOF Helicopter Based...

Robust Tracking Control for 3 DOF Helicopter Based on Least Squares Support Vector Machine

Abstract:

A robust tracking control method for 3 DOF helicopter via least squares support vector machine with considering uncertainty and bounded disturbance is proposed in this paper. The inversion errors which is brought due to modeling errors and uncertainty can be compensated by least squares support vector machine, and the optimal regulator guaranteed dynamic characteristics of approximate linearization system and response quality of tracking error dynamic. Finally, the stability and convergence analysis of error dynamic system is proven by Lyapunov stability theory and numerical simulations have demonstrated the effectiveness of the proposed approach.

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Periodical:

Applied Mechanics and Materials (Volumes 313-314)

Pages:

370-373

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.313-314.370

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Online since:

March 2013

Authors:

Jing Mei Zhang, Lei Xue, Rui Min Zhang, Chang Yin Sun

Keywords:

3-DOF Helicopter, Nonlinear System, Robust Control, Support Vector Machine (SVM)

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References

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