Affiliation of Author(s):自动化学院
Journal:2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA)
Key Words:CONTROL-SYSTEM DESIGN
Abstract:In this paper, a robust adaptive backstepping control scheme is studied for attitude and altitude control of medium scale unmanned autonomous helicopter (UAH) with flapping dynamics. A simplified UAH model is established and nonlinear disturbance observer (NDO) is designed to eliminate the effect of unknown external disturbance. The robust adaptive backstepping approach is employed to design the attitude and altitude controller for the outputs tracking the desired trajectory. The stability of the closed-loop system is proved via Lyapunov analysis and all closed-loop signals are uniformly ultimately bounded. Simulation results are presented to demonstrate the effectiveness of the developed control method.
ISSN No.:1948-3449
Translation or Not:no
Date of Publication:2017-01-01
Co-author:Yan, Kun,cm
Correspondence Author:wqx
Professor
Supervisor of Doctorate Candidates
Gender:Male
Alma Mater:南京工学院
Education Level:With Certificate of Graduation for Study as Master's Candidates
Degree:Master's Degree in Engineering
School/Department:College of Automation Engineering
Discipline:Control Theory and Engineering. Control Science and Engineering
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