Attitude Control of a Miniature Helicopter Using Adaptive Backstepping Method

Author

Chang, Guanqing ; Qian, Hanbo ; Fan, Guoliang ; Chang, Hongxing

Author_Institution

Res. Center of Integrated Inf., Chinese Acad. of Sci., Beijing, China

fYear

2010

fDate

22-23 May 2010

Firstpage

1

Lastpage

4

Abstract

This paper presents an adaptive backstepping attitude control method for a miniature helicopter with unknown parameters. The adaptive controller is designed by combining a control law with a parameter estimator, which provides estimates of unknown parameters. The stability of the overall closed-loop system is proven to be asymptotically stable based on the Lyapunov theorem. Computer simulation results are given to demonstrate the applicability of the proposed control method.

Keywords

Lyapunov methods; adaptive control; aircraft control; asymptotic stability; attitude control; control system synthesis; helicopters; parameter estimation; Lyapunov theorem; adaptive backstepping method; adaptive control; asymptotically stability; attitude control; closed loop system; miniature helicopter; parameter estimator; Adaptive control; Automatic control; Backstepping; Computer simulation; Fuzzy logic; Helicopters; Neural networks; Neurofeedback; Parameter estimation; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Applications (ISA), 2010 2nd International Workshop on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-5872-1

Electronic_ISBN

978-1-4244-5874-5

Type

conf

DOI

10.1109/IWISA.2010.5473311

Filename

5473311