Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment

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• 作者：Zhen Zhao ; Wei He ; Zhao Yin ; Jun Zhang
• 关键词：Helicopter ; Neural networks ; Radial basis function ; Adaptive control ; Robot ; Trajectory tracking
• 刊名：Journal of Intelligent & Robotic Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：85
• 期：1
• 页码：127-144
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-0409
• 卷排序：85

文摘

In this paper, we consider the control problem of tracking a 3D spatial trajectory for a fully actuated helicopter in static known environment, which is predefined to avoid obstacles and collisions considering the distance, fuel consumption and other related constraints. For this purpose, a nonlinear controller using the radial basis function neural network (RBFNN) is designed. Based on Lyapunov analysis, the proposed adaptive neural network control succeeds in tracking the desired trajectory robustly to a small neighborhood of zero, and guarantees the boundedness of all the closed-loop signals at the same time. Extensive numerical results are given to illustrate the effectiveness of the designed controller.