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Robust trajectory tracking for a scale model autonomous helicopter
Author(s) -
Mahony Robert,
Hamel Tarek
Publication year - 2004
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.931
Subject(s) - backstepping , trajectory , control theory (sociology) , a priori and a posteriori , lyapunov function , computer science , tracking (education) , acceleration , function (biology) , scale (ratio) , mathematics , control (management) , nonlinear system , adaptive control , artificial intelligence , physics , psychology , pedagogy , philosophy , epistemology , astronomy , quantum mechanics , classical mechanics , evolutionary biology , biology
This paper considers the question of obtaining an a priori bound on the tracking performance, for an arbitrary trajectory, of closed‐loop control of an idealized model of a scale model autonomous helicopter. The problem is difficult due to the presence of small body forces that cannot be directly incorporated into the control design. A control Lyapunov function is derived for an approximate model (in which the small body forces are neglected) using backstepping techniques. The Lyapunov function derived is used to analyse the closed‐loop performance of the full system. A theorem is proved that provides a priori bounds on initial error and the trajectory parameters (linear acceleration and its derivatives) that guarantees acceptable tracking performance of the system. The analysis is expected to be of use in verification of trajectory planning procedures. Copyright © 2004 John Wiley & Sons, Ltd.