Block Backstepping Trajectories Tracking Control for Unmanned Helicopters

被引：0
|
作者：
Yu, Xin [1 ,2 ]
Wang, Xiangyu [1 ,2 ]
Li, Shihua [1 ,2 ]
Liu, Jiyu [3 ]
Zhang, Ya [1 ,2 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
[2] Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Beijing, Peoples R China
[3] Facri, Aviat Key Lab Sci & Technol Aircraft Control, Xian, Shaanxi, Peoples R China
来源：
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2018年
基金：
中国国家自然科学基金;
关键词：
SLIDING MODE CONTROL; NONLINEAR-SYSTEMS;
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：
This paper proposes a block backstepping trajectories tracking control scheme for a class of unmanned helicopters. The control objective is to make the position and yaw angle trajectories of the helicopter track the desired position and yaw angle trajectories. In order to design the controller, the helicopter system is divided into three subsystems at first. Then based on the block backstepping technique, four control inputs which constitute the helicopter controller are designed step by step in three subsystems. The asymptotic stability of the closed-loop helicopter trajectories tracking error system is verified based on Lyapunov stability analysis. Finally, numerical simulations demonstrate the effectiveness of the proposed block backstepping control scheme.
引用
收藏
页码：632 / 637
页数：6
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