Nonlinear Robust Attitude Tracking Control of an Underactuated 3 Degree-of-freedom Helicopter
This paper proposes a new asymptotic attitude tracking controller for an underactuated three degree-of-freedom laboratory helicopter system. The nonlinear robust control law is developed through a modified inner-outer loop approach, and is free of chattering. The controller requires very limited knowledge of the system dynamic model while achieving good robustness with respect to system parametric uncertainties. A Lyapunov based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter’s elevation and travel angles, while keeping the stability of the closed loop system. Numerical simulation results demonstrate that the controller has good tracking performance, and requires few model knowledge.
3DOF helicopter Nonlinear Robust Asymptotic tracking
Xiang Liu Bin Xian Jianchuan Guo Bo Zhao Chen Diao
The Institute of Robotics and Autonomous System, the Tianjin Key Laboratory of Process Measurement a The Institute of Robotics and Autonomous System, the Tianjin Key Laboratory of Process Measurement a
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
986-991
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）