dc.contributor.author |
Zhu, Bing
|
|
dc.contributor.author |
Huo, Wei
|
|
dc.date.accessioned |
2015-01-22T07:22:15Z |
|
dc.date.available |
2015-01-22T07:22:15Z |
|
dc.date.issued |
2014-11 |
|
dc.description.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. |
en_ZA |
dc.description.librarian |
hb2015 |
en_ZA |
dc.description.uri |
http://www.journals.elsevier.com/acta-automatica-sinica/ |
en_ZA |
dc.identifier.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. |
en_ZA |
dc.identifier.issn |
1874-1029 (print) |
|
dc.identifier.other |
10.1016/S1874-1029(14)60411-0 |
|
dc.identifier.uri |
http://hdl.handle.net/2263/43381 |
|
dc.language.iso |
en |
en_ZA |
dc.publisher |
Elsevier |
en_ZA |
dc.rights |
© 2014 Elsevier Ltd. All rights reserved. Notice : this is the author’s version of a work that was accepted for publication in Acta Automatica Sinica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Acta Automatica Sinica, vol. 40, no. 11, pp. 2654-2664, 2014. |
en_ZA |
dc.subject |
Nonlinear control |
en_ZA |
dc.subject |
Trajectory tracking |
en_ZA |
dc.subject |
Helicopter control |
en_ZA |
dc.subject |
Saturated control |
en_ZA |
dc.title |
Nonlinear control for a model-scaled helicopter with constraints on rotor thrust and fuselage attitude |
en_ZA |
dc.type |
Postprint Article |
en_ZA |