Nonlinear control for a model-scaled helicopter with constraints on rotor thrust and fuselage attitude
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Date
Authors
Zhu, Bing
Huo, Wei
Journal Title
Journal ISSN
Volume Title
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.
Description
Keywords
Nonlinear control, Trajectory tracking, Helicopter control, Saturated control
Sustainable Development Goals
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.