Robust Adaptive Control for Longitudinal and Lateral Dynamics of a Small Scale Helicopter
نویسنده
چکیده
The problem of stabilization of lateral and longitudinal positions for hover flight mode of an unmanned autonomous helicopter (UAH) in a gusty environment is considered. The controller design is based on generic linear model which successfully describes the behaviour of most small scale helicopters. A recursive (backstepping) design procedure is used to design the robust adaptive controller for longitudinal and lateral dynamics based on control Lyapunov approach. Finally a computer simulation is conducted to test the proposed controller. The simulation results demonstrate that the proposed controllers can effectively attenuate the gust effects and achieve rapid and accurate longitudinal and lateral positions in a gusty environment.
منابع مشابه
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