Title :
Adaptive backstepping tracking control of a 6-DOF unmanned helicopter
Author :
Bin Xian ; Jianchuan Guo ; Yao Zhang
Author_Institution :
Key Lab. of Process Meas. & Control, Tianjin Univ., Tianjin, China
Abstract :
This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter´s dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; autonomous aerial vehicles; closed loop systems; control nonlinearities; control system synthesis; helicopters; mobile robots; robot dynamics; telerobotics; vehicle dynamics; 6-DOF unmanned helicopter; GAS; Lyapunov based stability analysis; adaptive backstepping control design; adaptive backstepping tracking control; backstepping method; closed-loop system; global asymptotical stability; helicopter dynamic model; online parameter update laws; parametric uncertainties; Angular velocity; Backstepping; Control design; Equations; Helicopters; Uncertainty; Vectors; Unmanned helicopter; adaptive backstepping control; parametric uncertainty; trajectory tracking;
Journal_Title :
Automatica Sinica, IEEE/CAA Journal of
DOI :
10.1109/JAS.2015.7032902