Trajectory Tracking Controller of Small-Scale Helicopter Based on Backstepping

被引：0
|
作者：
Tang, Shuai [1 ]
Zheng, ZhiQiang [1 ]
Ye, JianBin [1 ]
Wang, Qi [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron & Automat, Changsha 410073, Hunan, Peoples R China
来源：
SYSTEMS SIMULATION AND SCIENTIFIC COMPUTING, PT I | 2012年 / 326卷
关键词：
unmanned helicopter; backstepping; trajectory tracking;
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 presents a backstepping control design procedure for a small-scale helicopter. The objective is to control the small-scale helicopter to realize the autonomous tracking of the predefined trajectory which consists of the position and the yaw angle. The controller is derived based on Lyapunov stability theory. An approximate helicopter model is adopted and the flapping dynamic of the main rotor is considered. The main idea is to decouple the translational dynamics and the rotational dynamics through solving an equation when the desired yaw angle is predefined. Simulation results show that the performance of the proposed controller is acceptable.
引用
收藏
页码：118 / 127
页数：10
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