Orbital Stability Analysis of Two-Relay Controller in Second Order Systems via Lyapunov Functions and Its Application to a 3-DOF Underactuated Helicopter

Abstract

This paper deals with the solution of the periodic motion problem in a 3-DOF under actuated helicopter. A two-relay controller was proposed in order to induce self-oscillations in the helicopter. A new framework for orbital stability analysis based on Lyapunov functions was proposed for the closed-loop system. The performance of the proposed two-relay controller to induce self-oscillations into a laboratory under actuated 3-DOF helicopter was verified by simulations.