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

fYear

2015

fDate

3-6 May 2015

Firstpage

1283

Lastpage

1288

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on

Conference_Location

Halifax, NS

ISSN

0840-7789

Print_ISBN

978-1-4799-5827-6

Type

conf

DOI

10.1109/CCECE.2015.7129463

Filename

7129463