Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization

被引：1

作者：

Schlanbusch, Siri Marte ^{[1
]}

Zhou, Jing ^{[1
]}

机构：

[1] Univ Agder, Dept Engn Sci, Grimstad, Norway

来源：

2021 THE 9TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2021) | 2021年

关键词：

Adaptive control; backstepping; 2 DOF helicopter; quantization; attitude control; UNCERTAIN NONLINEAR-SYSTEMS; FEEDBACK-CONTROL;

D O I：

10.1109/ICCMA54375.2021.9646184

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 studies the attitude tracking control for an uncertain 2-degrees of freedom helicopter system where the inputs and the states are quantized. An adaptive backstepping based control scheme is proposed to handle the effect of quantization for tracking of reference angles for pitch and yaw. All closed-loop signals are ensured uniformly bounded and the tracking errors will converge to a compact set containing the origin. Experiments on the helicopter system illustrate the proposed control scheme.

引用

页码：110 / 115

页数：6

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