Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

被引：31

作者：

Verginis, Christos K. ^{[1
]}

Bechlioulis, Charalampos P. ^{[2
]}

Soldatos, Argiris G. ^{[3
]}

Tsipianitis, Dimitris ^{[2
]}

机构：

[1] Univ Texas, Oden Inst Computat Engn & Sci, Austin, TX 78705 USA

[2] Univ Patras, Div Syst & Control, Dept Elect & Comp Engn, Patras 26504, Greece

[3] Natl Tech Univ Athens, Dept Elect & Comp Engn, Zografos 15780, Greece

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2022年 / 27卷 / 05期

关键词：

Prescribed performance; three-degree-of-freedom (DOF) helicopter; trajectory tracking control; LABORATORY HELICOPTER; ADAPTIVE-CONTROL; BENCHMARK; DESIGN; MOTION;

D O I：

10.1109/TMECH.2021.3136046

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a robust control scheme for the trajectory tracking problem of a three-degree-of-freedom helicopter with prescribed transient and steady-state performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is a priori and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.

引用

页码：3559 / 3569

页数：11

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