Nonlinear control for a model-scaled helicopter with constraints on rotor thrust and fuselage attitude

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Authors

Zhu, Bing
Huo, Wei

Journal Title

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Publisher

Elsevier

Abstract

A nonlinear control is proposed for trajectory tracking of a 6-DOF model-scaled helicopter with constraints on main rotor thrust and fuselage attitude. In the procedure of control design, the mathematical model of helicopter is simplified into three subsystems: altitude subsystem, longitudinal-lateral subsystem and attitude subsystem. The proposed control is developed by combining the sub-controls for the corresponding subsystems. The sub-controls for altitude subsystem and longitudinal-lateral subsystem are designed with hyperbolic tangent functions to satisfy the constraints; the sub-control for attitude subsystem is based on backstepping technique such that fuselage attitude tracks the virtual control for longitudinal-lateral subsystem. It is proved theoretically that tracking errors are ultimately bounded, and control constraints are satisfied. Performances of the proposed controller are demonstrated by simulation results.

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Keywords

Nonlinear control, Trajectory tracking, Helicopter control, Saturated control

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Citation

Zhu, B. & Huo, W 2014, 'Nonlinear control for a model-scaled helicopter with constraints on rotor thrust and fuselage attitude', Acta Automatica Sinica, vol. 40, no. 11, pp. 2654-2664.