Title :
Cascaded backstepping control of a Duocopter including disturbance compensation by unscented Kalman filtering
Author :
Meinlschmidt, Thomas ; Aschemann, Harald ; Butt, Saif Siddique
Author_Institution :
Univ. of Rostock, Rostock, Germany
Abstract :
A cascaded control strategy for an innovative Duocopter test stand - a helicopter with two rotors combined with a guiding mechanism - is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model has similarities with a PVTOL and a planar model of a quadrocopter but involves additional terms due to the guiding mechanism. In the paper, a model-based cascaded control strategy is proposed: the outer MIMO control loop is given by the inverted system model to control the horizontal and the vertical Duocopter position with a nonlinear error dynamics derived from backstepping techniques. The rotation angle of the Duocopter is controlled in a linear inner control loop of high bandwidth. Due to uncertain system parameters and reasonable simplifications at the modelling of the test stand, the control structure is extended by an unscented Kalman filter. Thereby, an excellent tracking performance in vertical and horizontal direction can be achieved. The efficiency of the proposed control strategy is demonstrated by both simulations and experiments.
Keywords :
Kalman filters; MIMO systems; cascade control; compensation; control nonlinearities; helicopters; nonlinear filters; position control; uncertain systems; 3 degrees of freedom; Duocopter rotation angle control; PVTOL; cascaded backstepping control; disturbance compensation; guiding mechanism; helicopter; horizontal Duocopter position control; inverted system model; model-based cascaded control strategy; nonlinear error dynamics; outer MIMO control loop; quadrocopter; uncertain system parameters; unscented Kalman filtering; vertical Duocopter position control; Backstepping; Force; Friction; Kalman filters; Mathematical model; Torque; Tracking loops;
Conference_Titel :
Control, Decision and Information Technologies (CoDIT), 2014 International Conference on
Conference_Location :
Metz
DOI :
10.1109/CoDIT.2014.6996913