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
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