Abstract:
A 3-D path-following controller is proposed in
this brief for a 6-degrees-of-freedom model-scaled autonomous
helicopter. The reference path and path-following errors are
newly defined using implicit expressions. On the basis of geometric
analysis, a new speed error is designed for singularity
avoidance. The proposed control algorithm is designed using
command filtered backstepping, such that complicated solutions
for derivatives of virtual controls are circumvented. It is proved
that, with the proposed controller, path-following errors are
locally ultimately bounded. Theoretical results are demonstrated
by the numerical simulation.
