Title :
A novel robust trajectory tracking controller for small-scale unmanned helicopters
Author :
Xing Fang ; Ai-guo Wu ; Na Dong
Author_Institution :
Sch. of Electr. Eng. & Autom., Tianjin Univ., Tianjin, China
Abstract :
This paper presents a new disturbance observer based control (DOBC) scheme using multivariable super twisting and backstepping algorithm for small unmanned helicopter. A sliding mode observer is designed to estimate the compounded disturbances. Moreover, in order to avoid large calculation load, a first-order exact differentiator is developed to estimate the time derivative of the virtual control. The global asymptotic stability is proved by Lyapunov method. Finally, simulation results illustrate the effectiveness and robustness of the proposed flight control scheme.
Keywords :
Lyapunov methods; asymptotic stability; autonomous aerial vehicles; control nonlinearities; multivariable control systems; observers; robust control; trajectory control; variable structure systems; DOBC scheme; Lyapunov method; backstepping algorithm; compounded disturbance estimation; disturbance observer based control scheme; first-order exact differentiator; flight control scheme; global asymptotic stability; multivariable supertwisting; robust trajectory tracking controller; sliding mode observer; small-scale unmanned helicopters; virtual control; Estimation error; Helicopters; Numerical models; Observers; Robustness; Trajectory;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
978-1-4799-5827-6
DOI :
10.1109/CCECE.2015.7129463
