Adaptive backstepping control for a miniature autonomous helicopter

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Dec 2011Publisher:IEEEJournal:IEEE Conference on Decision and Control and European Control Conference

Authors: Bing Zhu 0004; Wei Huo;

doi: 10.1109/cdc.2011.6160275

Adaptive backstepping control for a miniature autonomous helicopter

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Abstract

An adaptive backstepping control algorithm is presented for trajectory tracking of a miniature autonomous helicopter with inertial parameter uncertainties. The control algorithm is designed based on a simplified helicopter model in cascaded form with the backstepping technology. The inertial parameter uncertainties are compensated online with parameter adaptive update laws. The closed-loop stability analysis for the un-simplified complete helicopter model under this control algorithm is provided. Simulation results demonstrate the performances of the proposed approach.

Related Organizations

Beihang University
China (People's Republic of)
Beihua University
China (People's Republic of)

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