Robust Control for Longitudinal and Lateral Dynamics of Small Scale Helicopter
The problem of stabilization of lateral and longitudinal position for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on generic linear model which successfully describes the behavior of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust controller for longitudinal and lateral dynamics based on control Lyapunov approach. For comparison purposes we design another controller based on the linear quadratic regulator (LQR) criteria. The simulation results demonstrate that the proposed controllers can effectively attenuate the gust effects and achieve rapid and accurate longitudinal and lateral position tracking when gusts occur.
Helicopter dynamics Robust backstepping control Uncertainty Lyapunov stability
Tushar K. Roy Hemanshu R. Pota Matt Garratt Hamid Teimoori
School of Engineering and Information Technology, University of New South Wales at the Australian De School of Engineering and Information Technology, University of New South Wales at the Australian De
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2607-2612
2012-07-01(万方平台首次上网日期,不代表论文的发表时间)