Title :
Hierarchical control of a small unmanned helicopter using MPC and backstepping
Author :
Zhou Hongbo ; Pei Hailong ; He Yuebang
Author_Institution :
Coll. of Mech. Eng., Hunan Inst. of Sci. & Technol., Yueyang, China
Abstract :
Considering the structural features of unmanned helicopters, the present paper designs a hierarchical inner-outer loop-based controller to solve the trajectory tracking problem. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of backstepping techniques that allow stabilization of the attitude. The obtained control method takes advantage of both controllers and it is simple and easy to implement in future real flight test. Finally, the computer simulations are conducted to illustrate the tracking performance of the proposed control method.
Keywords :
aerospace robotics; aircraft control; attitude control; helicopters; hierarchical systems; mobile robots; position control; predictive control; remotely operated vehicles; stability; MPC; attitude stabilization; backstepping techniques; hierarchical inner-outer loop-based controller; model predictive controller; reference trajectory tracking problem; small unmanned helicopter; Attitude control; Backstepping; Electronic mail; Helicopters; Predictive models; Robustness; Zirconium; Backstepping; Hierarchical control; Model predictive control (MPC); Small unmanned helicopter;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768