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
  • [21] LQR control of a 3-DOF helicopter system
    Nkemdirim, Miracle
    Dharan, Sanjana
    Chaoui, Hicham
    Miah, Suruz
    INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2022, 10 (04) : 1084 - 1093
  • [22] Experimental Results on Robust Attitude Control of a 3-DOF Helicopter under Wind Disturbances
    Li, Doudou
    Zhu, Xiaoyuan
    Li, Wei
    Chen, Shurong
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 8224 - 8228
  • [23] Attitude estimation and control of a 3-DOF lab helicopter only based on optical flow
    Zhang, Lianhua
    Shi, Zongying
    Zhong, Yisheng
    ADVANCED ROBOTICS, 2016, 30 (08) : 505 - 518
  • [24] Prescribed performance safe tracking control for the unmanned helicopter with input and output constraints
    Ma H.-X.
    Chen M.
    Wu Q.-X.
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2024, 41 (01): : 39 - 48
  • [25] Trajectory Tracking of a 3DOF Laboratory Helicopter Under Input and State Constraints
    Kiefer, Thomas
    Graichen, Knut
    Kugi, Andreas
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (04) : 944 - 952
  • [26] Monocular Camera based Trajectory Tracking of 3-DOF Helicopter
    Li, Shuailing
    Liu, Hao
    Shi, Zongying
    Zhong, Yisheng
    ASIAN JOURNAL OF CONTROL, 2014, 16 (03) : 742 - 751
  • [27] Trajectory Tracking of 3-DOF Lab Helicopter by Robust LQR
    Sini, S.
    Vivek, A.
    Nandagopal, J. L.
    PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON CIRCUIT ,POWER AND COMPUTING TECHNOLOGIES (ICCPCT), 2017,
  • [28] No steady-state error tracking control of 3-DOF experimental helicopter system
    Yue, Xin-Cheng
    Yang, Ying
    Geng, Zhi-Yong
    2007, Acta Simulata Systematica Sinica, Beijing, 100854, China (19):
  • [29] Vision based Flight Control of 3-DOF Helicopter
    Li Shuailing
    Liu Hao
    Shi Zongying
    Zhong Yisheng
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 4342 - 4347
  • [30] Periodic motion planning and nonlinear H∞ tracking control of a 3-DOF underactuated helicopter
    Meza-Sanchez, Iliana M.
    Aguilar, Luis T.
    Shiriaev, Anton
    Freidovich, Leonid
    Orlov, Yury
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2011, 42 (05) : 829 - 838
12345