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Robust Tracking Control of Helicopters Using Backstepping with Disturbance Observers
Author(s) -
He Yuebang,
Pei Hailong,
Sun Tairen
Publication year - 2014
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.827
Subject(s) - backstepping , control theory (sociology) , disturbance (geology) , trajectory , nonlinear system , controller (irrigation) , control engineering , compensation (psychology) , computer science , tracking (education) , robust control , observer (physics) , engineering , control system , control (management) , adaptive control , artificial intelligence , physics , psychology , paleontology , pedagogy , electrical engineering , quantum mechanics , astronomy , psychoanalysis , agronomy , biology
This paper addresses the robust and accurate trajectory tracking problem for unmanned helicopters in the presence of model uncertainties and external disturbances. First, the helicopter's model is simplified to a six‐degrees‐of‐freedom rigid body augmented with a simplified rotor dynamic model, with the model uncertainties and the external disturbances being treated as lumped unknown disturbances. Second, a nonlinear disturbance observer is designed to estimate this lumped disturbance. Then, a backstepping controller with disturbance compensation is designed to ensure robust and highly trajectory tracking. After that, the theoretical analysis of the efficiency of the designed disturbance observer‐based backstepping controller (Backstepping+ DO ) is shown by the L yapunov theory. Finally, simulation results and conclusions are presented and discussed.