# Comparison of Robust Control Techniques for Use in Flight Simulator Motion Bases

### Mauricio Becerra-Vargas

#### Abstract

The purpose of this study is to analyse and compare three control strategies based on the inverse dynamics control structure for a six degree of freedom flight simulator motion base driven by electromechanical actuators. All strategies are applied in the outer loop of the inverse dynamic control structure by considering imperfect compensation of the nonlinearities. Imperfect compensation is intentionally introduced in order to simplify the implementation of the inverse dynamic control structure. The first strategy is just a proportional and derivative control, the second is based on Lyapunov stability theory and the third is based on H-Infinity theory. Acceleration step response and smoothness of the actuators driven torques were used to compare the performance of the controllers. The results are based on numerical simulations.

#### References

- Becerra-Vargas, M. and Belo, E. (2010). Fuzzy sliding mode control of a flight simulator motion base. In 27TH Congress of the international Council of the aeronautical sciences-ICAS 2010, pages 1-12, Nice, France. Optimage Ltd.
- Becerra-Vargas, M. and Belo, E. (2011). Robust control of a flight simulator motion base. Journal of Guidance, Control, and Dynamics, 34(5):1519-1528.
- Becerra-Vargas, M. and Belo, E. (2012). Application of H-Infinity theory to a 6 dof flight simulator motion base. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 34(2):193-204.
- Becerra-Vargas, M. and Belo, E. (2015). Dynamic modeling of a 6 dof flight simulator motion base. Journal of Computational and Nonlinear Dynamics (doi 10.1115/1.4030013).
- Koekebakker, S. (2001). Model based control of a flight simulator motion system. PhD thesis, Delft University of Technology, Netherlands.
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- Stewart, D. (1965). A platform with 6 degrees of freedom. Proceedings of the institution of mechanical engineers 1965-66, 180(15):371-386.

#### Paper Citation

#### in Harvard Style

Becerra-Vargas M. (2015). **Comparison of Robust Control Techniques for Use in Flight Simulator Motion Bases** . In *Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,* ISBN 978-989-758-123-6, pages 344-348. DOI: 10.5220/0005546803440348

#### in Bibtex Style

@conference{icinco15,

author={Mauricio Becerra-Vargas},

title={Comparison of Robust Control Techniques for Use in Flight Simulator Motion Bases},

booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

year={2015},

pages={344-348},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0005546803440348},

isbn={978-989-758-123-6},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,

TI - Comparison of Robust Control Techniques for Use in Flight Simulator Motion Bases

SN - 978-989-758-123-6

AU - Becerra-Vargas M.

PY - 2015

SP - 344

EP - 348

DO - 10.5220/0005546803440348