Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
Joint Authors
Du, Chunyan
Fang, Xing
Wu, Aiguo
Shang, Yujia
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances.
First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances.
Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem.
Second, a disturbance observer based controller (DOBC) is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property.
A sliding mode observer works as an estimator of the compounded disturbances.
In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control.
Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given.
Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.
American Psychological Association (APA)
Fang, Xing& Wu, Aiguo& Shang, Yujia& Du, Chunyan. 2015. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1074304
Modern Language Association (MLA)
Fang, Xing…[et al.]. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter. Mathematical Problems in Engineering No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1074304
American Medical Association (AMA)
Fang, Xing& Wu, Aiguo& Shang, Yujia& Du, Chunyan. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1074304
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074304