Robust backstepping decentralized tracking control for a 3-DOF helicopter

被引：31
|
作者：
Yu, Yao [1 ,2 ]
Lu, Geng [2 ]
Sun, Changyin [1 ]
Liu, Hao [3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Tsinghua Univ, Dept Automat, TNList, Beijing 100084, Peoples R China
[3] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
来源：
NONLINEAR DYNAMICS | 2015年 / 82卷 / 1-2期
基金：
北京市自然科学基金;
关键词：
3-DOF helicopter; Decentralized control; Backstepping; Robust control; Uncertain system; ATTITUDE-CONTROL; NONLINEAR-SYSTEMS; ADAPTIVE-CONTROL; FORMATION FLIGHT; CONTROL DESIGN;
D O I：
10.1007/s11071-015-2209-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A three-degree-of-freedom helicopter attitude tracking control system can be described as a multi-input multi-output strict-feedback form system with unknown parameters, bounded disturbances, and nonlinear uncertain cross-couplings. Both norm-bounded and nonlinear uncertainties are discussed. The whole nonlinear system is divided into a nominal disturbance-free system and an equivalent disturbance part. A robust control method based on signal compensation technique and backstepping decentralized control is proposed. Robust practical tracking property of closed-loop system is proven, and the tracking error can be made as small as desired with expected convergence rate. Experimental results demonstrate the improved tracking performance of the attitude tracking control system with different types of reference signals, such as step signals, ramp signals, and nonstationary sinusoidal signals.
引用
收藏
页码：947 / 960
页数：14
相关论文
共 50 条
  • [1] Robust backstepping decentralized tracking control for a 3-DOF helicopter
    Yao Yu
    Geng Lu
    Changyin Sun
    Hao Liu
    [J]. Nonlinear Dynamics, 2015, 82 : 947 - 960
  • [2] Robust Decentralized Control for a 3-DOF Helicopter
    Yu, Yao
    Lu, Geng
    Zhong, Yi-Sheng
    [J]. PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 2708 - 2714
  • [3] Robust Adaptive Integral Backstepping Control of a 3-DOF Helicopter
    Fang, Zheng
    Gao, Weinan
    Zhang, Lei
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2012, 9
  • [4] Robust H∞ Optimal Tracking Control for 3-DOF Helicopter
    Lu, Renquan
    Du, Wei
    Zheng, Weihong
    Xue, Anke
    [J]. 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 7327 - +
  • [5] Adaptive Integral Backstepping Control for a 3-DOF Helicopter
    Gao, Wei-Nan
    Fang, Zheng
    [J]. PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2012, : 190 - 195
  • [6] Robust Attitude Decentralized Tracking Control for a 3-DOF Helicopter with Unknown Input Time-delay
    Yu, Yao
    Sun, Chang-Yin
    [J]. 2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 173 - 177
  • [7] Trajectory Tracking of 3-DOF Lab Helicopter by Robust LQR
    Sini, S.
    Vivek, A.
    Nandagopal, J. L.
    [J]. PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON CIRCUIT ,POWER AND COMPUTING TECHNOLOGIES (ICCPCT), 2017,
  • [8] Robust Output Feedback Control for a 3-DOF Helicopter System
    Li, Chuang
    Yang, Xuebo
    Sun, Yiyong
    Lin, Weiyang
    [J]. IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 5513 - 5518
  • [9] Less Conservative Optimal Robust Control of a 3-DOF Helicopter
    Buzachero, L. F. S.
    Assuncao, E.
    Teixeira, M. C. M.
    da Silva, E. R. P.
    [J]. JOURNAL OF CONTROL SCIENCE AND ENGINEERING, 2015, 2015
  • [10] Adaptive NN Backstepping Control Design for a 3-DOF Helicopter: Theory and Experiments
    Yang, Xuebo
    Zheng, Xiaolong
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (05) : 3967 - 3979
12345