Title :
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
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;
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
DOI :
10.1109/IWISA.2010.5473311
