Adaptive backstepping control for a miniature autonomous helicopter

Author

Zhu Bing ; Huo Wei

Author_Institution

Seventh Res. Div., Beihang Univ., Beijing, China

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

5413

Lastpage

5418

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160275

Filename

6160275