کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
700228 890842 2009 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive backstepping control for electrically driven unmanned helicopter
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Adaptive backstepping control for electrically driven unmanned helicopter
چکیده انگلیسی

This paper addresses the attitude control problem for a twin rotor unmanned helicopter driven by DC motors. The control objective is to have the helicopter attitude, i.e., pitch and yaw angles, track specified angles. From the considered dynamics of the plant, it is observed that the main difficulty of the control problem is due to the existing nonlinear coupling effects between the two perpendicular rotors. Hence, a novel adaptive control approach based on the backstepping concept is developed to solve the problem. In the controller design, the system parameters are assumed to be unavailable and are estimated on-line. The stability of the overall closed-loop system is proven to be asymptotically stable based on the Lyapunov theorem. In order to demonstrate the applicability of the proposed control scheme, computer simulations and experiments are shown.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 17, Issue 8, August 2009, Pages 903–913
نویسندگان
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