Title :
Adaptive integral backstepping control for a 3-DOF helicopter
Author :
Gao, Wei-Nan ; Fang, Zheng
Author_Institution :
State Key Lab. of Synthetical Autom. for Process Ind., Northeastern Univ., Shenyang, China
Abstract :
Unmanned aerial vehicles have enormous potential applications in military and civil fields. A Quanser´s 3-DOF helicopter is a simplified and benchmark experimental model for validating the effectiveness of various flight control algorithms. The attitude control of the 3-DOF helicopter is a challenging task since it is an under-actuated system with strong coupling and model uncertainty characteristics. In this paper, the dynamics model of the helicopter is established and an adaptive integral backstepping algorithm is applied to realize robust control of a 3-DOF helicopter. The proposed control algorithm can estimate model uncertainties online and improve the robustness of the system. Experimental results demonstrate that the proposed algorithm performs well in tracking and under model uncertainties.
Keywords :
adaptive control; aircraft control; attitude control; autonomous aerial vehicles; helicopters; military aircraft; mobile robots; robot dynamics; telerobotics; Quanser 3-DOF helicopter; adaptive integral backstepping control; attitude control; benchmark experimental model; civil fields; coupling characteristics; flight control algorithms; helicopter dynamics model; military fields; model uncertainties estimation; model uncertainty characteristics; robust control; under-actuated system; unmanned aerial vehicles; Adaptation models; Algorithm design and analysis; Backstepping; Helicopters; Heuristic algorithms; Mathematical model; Uncertainty; 3-DOF helicopter; Adaptive control; Backstepping algorithm; Integral action; Model uncertainties;
Conference_Titel :
Information and Automation (ICIA), 2012 International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4673-2238-6
Electronic_ISBN :
978-1-4673-2236-2
DOI :
10.1109/ICInfA.2012.6246806
