A Nonlinear Trajectory Tracking Controller for Helicopters: Design and Experimental Evaluation

被引：0
|
作者：
Yu, Gan [1 ]
Li, Jianan [1 ]
Cabecinhas, David [2 ,3 ]
Cunha, Rita [3 ]
Silvestre, Carlos [2 ]
机构：
[1] Univ Macau, Fac Sci & Technol, Dept Electromech Engn, Macau, Peoples R China
[2] Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China
[3] Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, Dept Elect Engn & Comp Sci, Lisbon, Portugal
来源：
TENCON 2015 - 2015 IEEE REGION 10 CONFERENCE | 2015年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper addresses the design and experimental evaluation of a controller to steer a helicopter along a desired trajectory. The controller is designed based on Lyapunov's method and backstepping technique. Control laws for thrust and angular velocity are presented that guarantee the convergence of the trajectory tracking error to zero for a simplified helicopter model. Experimental results, which include the helicopter tracking an ellipse, are presented to assess the validity and performance of the proposed controller.
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页数：6
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