Attitude Tracking Control of a 3-DOF Helicopter with Input and Output Constraints

被引：0
|
作者：
Zheng Zewei [1 ]
Zuo Zongyu [1 ]
机构：
[1] Beihang Univ, Sci & Technol Aircraft Control Lab, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
基金：
中国国家自然科学基金;
关键词：
Disturbance Observer; 3-DOF Helicopter; Input Constraint; Output Constraint; ANTIWINDUP DESIGN; SPACECRAFT; SATURATION;
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：
A novel attitude tracking controller is proposed for the 3-DOF helicopter under input and output constraints. A barrier Lyapunov function is employed to address input constraint, and an auxiliary design system for output constraint. Combining the backstepping technique, a nonlinear disturbance observer is explored to tackle the unknown nonlinear functions. We proved that the presented method can control the system output errors converge to a neighbourhood of zero for any sufficient smooth and bounded time-varying trajectory, and simultaneously the input and output states remains in the prescribed set uniformly. Simulation results demonstrate the effectiveness of the proposed controller for the 3-DOF helicopter.
引用
收藏
页码：10608 / 10612
页数：5
相关论文
共 50 条
  • [1] Neural Network Tracking Control of the 3-DOF Helicopter with Input Saturation
    Guo, Yuhang
    Zheng, Zewei
    Zhu, Ming
    Wu, Zhe
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 2656 - 2660
  • [2] Robust Attitude Decentralized Tracking Control for a 3-DOF Helicopter with Unknown Input Time-delay
    Yu, Yao
    Sun, Chang-Yin
    2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 173 - 177
  • [3] Attitude Tracking Control of a 3-DOF Helicopter with Actuator Saturation and Model Uncertainties
    Zheng Zewei
    Sun Liang
    Zou Yao
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 5641 - 5646
  • [4] Feedforward and feedback tracking control of a 3DOF helicopter experiment under input and output constraints
    Kiefer, Thomas
    Kugi, Andreas
    Graichen, Knut
    Zeitz, Michael
    PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, : 1588 - +
  • [5] Backstepping control for a 3DOF model helicopter with input and output constraints
    Mei, Rong
    Cui, Qingliang
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14
  • [6] Research of Fuzzy Control for Elevation Attitude of 3-DOF Helicopter
    Zhou, Feng
    Li, Denghua
    Xia, Peirong
    2009 INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS, VOL 1, PROCEEDINGS, 2009, : 367 - 370
  • [7] Attitude Control of 3-DOF Helicopter based on Iterative Learning Control
    Zhang Xining
    Liu Chenglin
    Liu Fei
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 128 - 132
  • [8] Robust Output Feedback Control for a 3-DOF Helicopter System
    Li, Chuang
    Yang, Xuebo
    Sun, Yiyong
    Lin, Weiyang
    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 5513 - 5518
  • [9] Robust backstepping decentralized tracking control for a 3-DOF helicopter
    Yu, Yao
    Lu, Geng
    Sun, Changyin
    Liu, Hao
    NONLINEAR DYNAMICS, 2015, 82 (1-2) : 947 - 960
  • [10] Robust backstepping decentralized tracking control for a 3-DOF helicopter
    Yao Yu
    Geng Lu
    Changyin Sun
    Hao Liu
    Nonlinear Dynamics, 2015, 82 : 947 - 960
12345