Adaptive Backstepping Trajectory Tracking Controller for a Small-Scaled Helicopter

被引:0
作者
Zou, Yao [1 ]
Huo, Wei [1 ]
机构
[1] Beihang Univ, Res Div 7, Sci & Technol Aircraft Control Lab, Beijing 100190, Peoples R China
来源
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词
Small-scaled helicopter; Trajectory tracking; Backstepping; VTOL-UAVS;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
An adaptive backstepping controller is proposed to achieve the trajectory tracking for a small-scaled helicopter. The helicopter model is first decomposed into a cascade structure between the position and attitude loops with uncertain dynamics. The backstepping technique is introduced to exploit the controller based on the decomposed model and the upper bounds of the unmodeled dynamics are compensated with the hyperbolic tangent function. The controller introduces a dynamic auxiliary system to obviate the singularity during the derivation of the command attitude; and criteria of controller parameters are developed to guarantee the bounded tracking. In addition, command filters are employed to ease complex derivative calculations. The stability analysis proves that the proposed controller realizes the ultimately bounded tracking of the helicopter system. Simulations verify the performance of the proposed controller.
引用
收藏
页码:737 / 742
页数:6
相关论文
共 50 条
[41]   Intelligent Adaptive Trajectory Tracking Control Using Fuzzy Basis Function Networks for an Autonomous Small-Scale Helicopter [J].
Tsai, Ching-Chih ;
Lee, Chi-Tai ;
Hwang, Kao-Shing .
2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2011, :2249-2254
[42]   Trajectory Tracking of a Two-Wheeled Mobile Robot Using Backstepping and Nonlinear PID Controller [J].
Fufa, Lencho Duguma ;
Ayenew, Endalew .
ARTIFICIAL INTELLIGENCE AND DIGITALIZATION FOR SUSTAINABLE DEVELOPMENT, ICAST 2022, 2023, 455 :290-304
[43]   Real-Time Output Trajectory Tracking using a Discrete Neural Backstepping Controller. [J].
Alanis, Alma Y. ;
Sanchez, Edgar N. ;
Loukianov, Alexander G. .
PROCEEDINGS OF THE 2008 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2008, :25-+
[44]   Design of Trajectory Tracking Controller with Fractional -order Backstepping Sliding Mode Method for Quadrotor UAV [J].
Shi, Xiaoyu ;
Hu, Binyang ;
Yin, Chun ;
Cheng, Yuhua ;
Iluang, Xuegang .
PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, :5960-5965
[45]   Fuzzy-Backstepping Controller Based on Optimization Method for Trajectory Tracking of Wheeled Mobile Robot [J].
Swadi, Salah M. ;
Tawfik, Mauwafak A. ;
Abdulwahab, Emad N. ;
Kadhim, Hasan Almgofir .
2016 UKSIM-AMSS 18TH INTERNATIONAL CONFERENCE ON COMPUTER MODELLING AND SIMULATION (UKSIM), 2016, :147-152
[46]   Backstepping dynamical sliding mode controller for three- dimensional trajectory tracking of underactuated UUV [J].
Xu, Jian ;
Wang, Man ;
Qiao, Lei ;
Zhang, Gengshi .
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2015, 43 (08) :107-113
[47]   Adaptive backstepping neural network control for three dimensions trajectory tracking of robotic airships [J].
Yang Y. ;
Wang W. ;
Yan Y. .
CEAS Aeronautical Journal, 2017, 8 (04) :579-587
[48]   A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV [J].
Zhou, Laihong ;
Zhang, Juqian ;
Dou, Jingxin ;
Wen, Bangchun .
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2018, 32 (12) :1675-1693
[49]   Trajectory tracking control of uncertain manipulator via contraction backstepping [J].
Meng X.-Y. ;
You H.-R. ;
He P. ;
Zhang G. ;
Li H. .
Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2022, 39 (05) :906-914
[50]   Trajectory Tracking of Skid Steer Unmanned Vehicle Based on Backstepping [J].
Yu Z. ;
Hou Y. ;
Xiong L. ;
Chen S. .
Qiche Gongcheng/Automotive Engineering, 2019, 41 (11) :1229-1234and1242