Robust Adaptive Backstepping Control for Unmanned Autonomous Helicopter with Flapping Dynamics
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所属单位：自动化学院
发表刊物：2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA)
关键字：CONTROL-SYSTEM DESIGN
摘要：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号：1948-3449
是否译文：否
发表时间：2017-01-01
合写作者：Yan, Kun,陈谋
通讯作者：吴庆宪