Attitude Tracking of an Unmanned Helicopter Using Adaptive Backstepping and Extended State Observer

被引：0

作者：

Zhao Wenlong ^{[1
]}

Meng Zhijun ^{[1
]}

Chen Xuzhi ^{[1
]}

Chen Nanyu ^{[1
]}

机构：

[1] Beihang Univ, Dept Aircraft, Beijing, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017) | 2017年

关键词：

Unmanned helicopter; adaptive backstepping control; extended state observer;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, a novel hybrid backstepping control algorithm is proposed for a miniature unmanned helicopter with wind gust disturbances and inertial parameter uncertainties, which achieves significant attitude tracking performance. Firstly, the complete nonlinear attitude dynamics model is derived. Secondly, the real-time extended state observer is provided to obtain the wind gust disturbances based on the simplified model. Then the Lyapunov-based backstepping control law is designed in the cascaded form, combining with the adaptive updating law to estimate the inertial parameters. Finally, the simulation results are presented to verify the high performance of the suggested control algorithm.

引用

页码：722 / 725

页数：4

共 10 条

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[8] An Adaptive Attitude Tracking Control Approach for an Unmanned Helicopter with Parametric Uncertainties and Measurement Noises
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