Direct adaptive control of a four-rotor helicopter using disturbance observer

Author

Fuyang Chen ; Bin Jiang ; Feifei Lu

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2014

fDate

6-11 July 2014

Firstpage

3821

Lastpage

3825

Abstract

In this paper, a stable multivariable model reference adaptive control (MRAC) scheme is proposed for a four-rotor helicopter with unknown external disturbance. Firstly, the disturbance observer is designed to well monitor the unknown disturbance. And then, the adaptive controller is developed based on the disturbance observer to compensate the external disturbance and track the desired system states. Finally, the simulation results illustrate the effectiveness of the proposed adaptive control scheme.

Keywords

aircraft control; compensation; helicopters; model reference adaptive control systems; multivariable control systems; observers; stability; MRAC; direct adaptive control scheme; disturbance observer; four-rotor helicopter; stable multivariable model reference adaptive control scheme; system state tracking; unknown external disturbance compensation; Adaptation models; Adaptive control; Helicopters; Mathematical model; Observers; Propellers; Adaptive control; Disturbance observer; Four-rotor helicopter; MRAC;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks (IJCNN), 2014 International Joint Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-6627-1

Type

conf

DOI

10.1109/IJCNN.2014.6889406

Filename

6889406