Open AccessHeight and attitude tracking control of an unmanned helicopter via a HDOB‐backstepping composite control method
Author(s) -
Han Ling,
Wang Xiangyu,
Li Shihua,
Liu Jiyu
Publication year - 2019
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2019.1065
Subject(s) - backstepping , control theory (sociology) , tracking (education) , controller (irrigation) , attitude control , computer science , disturbance (geology) , stability (learning theory) , harmonic , control (management) , control engineering , engineering , artificial intelligence , adaptive control , physics , psychology , geology , paleontology , pedagogy , quantum mechanics , machine learning , agronomy , biology
This study studies the height and attitude tracking control problem of an unmanned helicopter system with disturbances. A composite controller based on the combination of harmonic disturbance observers and backstepping technique is proposed to achieve asymptotic tracking for height and attitude. Firstly, harmonic disturbance observers (HDOB) are designed to estimate the unknown disturbances affecting each channel. Then, a composite controller is proposed by integrating the backstepping control technique and the HDOB technique together to achieve the height and attitude tracking goal. Stability analysis of the closed‐loop system is given. Finally, numerical simulations are presented to verify the efficiency of the proposed control scheme.