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

页码：10608 / 10612

页数：5

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