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Adaptive backstepping integral control of a small‐scale helicopter for airdrop missions
Author(s) -
Lee ChiTai,
Tsai ChingChih
Publication year - 2010
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.211
Subject(s) - backstepping , control theory (sociology) , controller (irrigation) , control engineering , lyapunov function , nonlinear system , scale (ratio) , adaptive control , bounded function , computer science , engineering , control (management) , mathematics , artificial intelligence , geography , mathematical analysis , physics , cartography , quantum mechanics , agronomy , biology
This paper presents an adaptive Lyapunov‐based controller with integral action for small‐scale helicopters carrying out airdrop missions. The proposed controller is designed via adaptive backstepping. Unlike the approximate modeling approaches, where the coupling effect of the helicopter is neglected, the proposed method is developed according to a complete dynamic model such that the closed‐loop helicopter system is guaranteed to be globally ultimately bounded. Two numerical simulations with airdrops are conducted to exemplify the merits of the proposed controller. Through simulation results, the proposed control method is shown to outperform the well‐known controller in Mahony and Hamel, Int. J. Robust Nonlinear Control , Vol. 14, No. (12), pp. 1035–1059 (2004). Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society