Adaptive fuzzy backstepping control for a miniature helicopter

Author

Chang, Guanqing ; Qian, Hanbo ; Fan, Guoliang ; Chang, Hongxing

Author_Institution

Res. Center of Integrated Inf., Chinese Acad. of Sci., Beijing, China

fYear

2010

fDate

16-20 Aug. 2010

Firstpage

451

Lastpage

456

Abstract

This paper presents an adaptive control approach for a miniature helicopter with modeling uncertainties. The controller design has been carried out by combining backstepping design and adaptive fuzzy control. This combination involves superimposing the two control techniques in order to meet both stability and performance objectives. First, the adaptive Takagi-Sugeno fuzzy systems are employed to compensate for the effect of uncertain dynamics. Then, the controller synthesis are completed based on the backstepping design. The stability of the overall closed-loop system is guaranteed based on the Lyapunov theorem. Computer simulation results are given to demonstrate the applicability of the proposed control method.

Keywords

Lyapunov methods; adaptive control; closed loop systems; control system synthesis; fuzzy control; fuzzy systems; helicopters; Lyapunov theorem; Takagi-Sugeno fuzzy system; adaptive fuzzy backstepping control; closed loop system; controller design; miniature helicopter; Adaptation model; Backstepping; Equations; Helicopters; Mathematical model; Stability criteria; Adaptive control; Backstepping design; Fuzzy system; Miniature helicopter; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics (ICAL), 2010 IEEE International Conference on

Conference_Location

Hong Kong and Macau

Print_ISBN

978-1-4244-8375-4

Electronic_ISBN

978-1-4244-8374-7

Type

conf

DOI

10.1109/ICAL.2010.5585325

Filename

5585325