Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912315934244864 |
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| author | Mirtaba, Mohammad Delgado, Jhon Manuel Portella Goel, Ankit |
| author_facet | Mirtaba, Mohammad Delgado, Jhon Manuel Portella Goel, Ankit |
| contents | This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as well as the geometric configuration of rotors are unknown. First, the equations of motion governing the dynamics of DRRS are derived using the Newton-Euler approach. Next, an input-output feedback linearization technique is used to linearize the dynamics from the rotor speeds to the angular position of the system. A finite-time convergent estimator, based on the portion of the DRRS dynamics, is used to update the required parameters in the controller. Finally, the proposed controller is validated in both step and harmonic command-following problems, and the robustness of the controller to the system's parameters is demonstrated. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05589 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia Mirtaba, Mohammad Delgado, Jhon Manuel Portella Goel, Ankit Systems and Control This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as well as the geometric configuration of rotors are unknown. First, the equations of motion governing the dynamics of DRRS are derived using the Newton-Euler approach. Next, an input-output feedback linearization technique is used to linearize the dynamics from the rotor speeds to the angular position of the system. A finite-time convergent estimator, based on the portion of the DRRS dynamics, is used to update the required parameters in the controller. Finally, the proposed controller is validated in both step and harmonic command-following problems, and the robustness of the controller to the system's parameters is demonstrated. |
| title | Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2504.05589 |