Title :
Adaptive backstepping control for a miniature autonomous helicopter
Author :
Zhu Bing ; Huo Wei
Author_Institution :
Seventh Res. Div., Beihang Univ., Beijing, China
Abstract :
An adaptive backstepping control algorithm is presented for trajectory tracking of a miniature autonomous helicopter with inertial parameter uncertainties. The control algorithm is designed based on a simplified helicopter model in cascaded form with the backstepping technology. The inertial parameter uncertainties are compensated online with parameter adaptive update laws. The closed-loop stability analysis for the un-simplified complete helicopter model under this control algorithm is provided. Simulation results demonstrate the performances of the proposed approach.
Keywords :
adaptive control; autonomous aerial vehicles; closed loop systems; stability; trajectory control; adaptive backstepping control algorithm; backstepping technology; closed-loop stability analysis; helicopter model; inertial parameter uncertainties; miniature autonomous helicopter; parameter adaptive update laws; trajectory tracking; Adaptation models; Algorithm design and analysis; Backstepping; Helicopters; Rotors; Stability analysis; Trajectory;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160275
