Adaptive Tracking Control of a Four-rotor Mini Helicopter Based on Backstepping Technique
نویسندگان
چکیده
منابع مشابه
Attitude control of small unmanned four-rotor helicopter based on adaptive inverse control theory
Small unmanned four-rotor helicopter (four-rotor) is a kind of noncoaxial, multirotor, dished vehicle with vertical take off and landing (VTOL) ability. Due to the complexity, strong coupling and sensitivity effects on the environment of four-rotor’s dynamic model, the controller must have high quality of robust and adaptive. According to these requirements, a lot of control theory have been pr...
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A nonlinear adaptive controller for the quadrotor helicopter is proposed using backstepping technique mixed with neural networks. The backstepping strategy is used to achieve good tracking of desired translation positions and yaw angle while maintaining the stability of pitch and roll angles simultaneously. The knowledge of all physical parameters and the exact model of the quadrotor are not re...
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In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the contro...
متن کاملAdaptive Tracking Control for a Quad-rotor
This paper illustrates the application of an adaptive flight control architecture to a scale quad-rotor. For autonomous VTOL (Vertical Takeoff and Landing) flight, it is common to separate the control problem into an inner fast loop that controls attitude and an outer slow loop that controls the trajectory of the VTOL. In this paper we augment a conventional PD controller conceived mainly for h...
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The paper presents the design of a mini-UAV attitude controller using the backstepping method. Starting from the nonlinear dynamic equations of the mini-UAV, by using the backstepping method, the authors of this paper obtained the expressions of the elevator, rudder, and aileron deflections, which stabilize the UAV at each moment to the desired values of the attitude angles. The attitude contro...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2014
ISSN: 0453-4654,1883-8189
DOI: 10.9746/sicetr.50.177