Trajectory tracking control of unmanned helicopters by using adaptive dynamic surface approach

被引：1
|
作者：
He, Yue-Bang [1 ]
Pei, Hai-Long [1 ]
Ye, Xiang [1 ]
Zhang, Qian [1 ]
机构：
[1] Key Laboratory of Autonomous Systems and Networked Control of the Ministry of Education, South China University of Technology, Guangzhou 510640, Guangdong
来源：
Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2013年 / 41卷 / 05期
关键词：
Adaptive dynamic surface control; Lyapunov stability; Trajectory tracking; Unmanned helicopter;
D O I：
10.3969/j.issn.1000-565X.2013.05.001
中图分类号：
学科分类号：
摘要：
As the existing unmanned helicopter models are of high order and great load change, a control method based on the adaptive dynamic surface approach is proposed. In this method, first, one-order linear filters are used to estimate the time derivatives of virtual control signals, thus significantly simplifying the design of the controller. Then, an on-line adaptive law is used to estimate the helicopter mass, thus guaranteeing the stability of the closed-loop system with variable load. Finally, the semi-global uniform bound of tracking errors is proved based on the Lyapunov stability theory. Simulated results indicate that the proposed method is effective and feasible.
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页码：1 / 8
页数：7
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