Title :
Improvement in Trajectory Tracking Control of a Small Scale Helicopter via Backstepping
Author :
Lee, Chi-Tai ; Tsai, Ching-Chih
Author_Institution :
Nat. Chung Hsing Univ., Taichung
Abstract :
This paper presents a Lyapunov-based controller with integral action which improves the trajectory tracking capability of a small-scale helicopter. An approximate helicopter model with decoupled dynamics is adopted for the controller design. The controller is completely derived based on the backstepping technique. Three numerical simulations are conducted to illustrate the tracking performance of the proposed control method. The simulation results using the full helicopter model with coupled dynamics show that the proposed controller is capable of giving better tracking performance while comparing with the robust control method in [R. Mahony & T. Hamel, International Journal of Robust and Nonlinear Control, vol. 14, no. 12, pp.1035-1059 (2004)].
Keywords :
Lyapunov methods; aircraft control; helicopters; position control; robust control; Lyapunov-based controller; approximate helicopter model; backstepping; controller design; decoupled dynamics; robust control; small scale helicopter; trajectory tracking control; Backstepping; Control design; Couplings; Force control; Fuzzy control; Helicopters; Numerical simulation; Robots; Robust control; Trajectory;
Conference_Titel :
Mechatronics, ICM2007 4th IEEE International Conference on
Conference_Location :
Kumamoto
Print_ISBN :
1-4244-1183-1
Electronic_ISBN :
1-4244-1184-X
DOI :
10.1109/ICMECH.2007.4280013