This paper addresses the attitude control problem for a twin rotor unmanned helicopter driven by DC motors. The control objective is to have the helicopter attitude, i.e., pitch and yaw angles, track specified angles. From the considered dynamics of the plant, it is observed that the main difficulty of the control problem is due to the existing nonlinear coupling effects between the two perpendicular rotors. Hence, a novel adaptive control approach based on the backstepping concept is developed to solve the problem. In the controller design, the system parameters are assumed to be unavailable and are estimated on-line. The stability of the overall closed-loop system is proven to be asymptotically stable based on the Lyapunov theorem. In order to demonstrate the applicability of the proposed control scheme, computer simulations and experiments are shown.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive backstepping control for electrically driven unmanned helicopter


    Weitere Titelangaben:

    Adaptive Backstepping-Regelung für elektrisch angetriebene unbemannte Hubschrauber


    Beteiligte:
    Yang, Jung-Hua (Autor:in) / Hsu, Wen-Chun (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2009


    Format / Umfang :

    11 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Adaptive Fuzzy Backstepping Control For A Miniature Helicopter

    Chang, Guanqing / Qian, Hanbo / Fan, Guoliang et al. | Tema Archiv | 2010


    Electric-driven unmanned helicopter

    LI XINMIN / HUANG JIANPING / JIANG TAIYU et al. | Europäisches Patentamt | 2015

    Freier Zugriff


    Adaptive Backstepping Control

    Tewari, Ashish | Wiley | 2016