Height and Attitude Control for Small Unmanned Helicopter with Uncertainties and Disturbances
详细信息 查看官网全文
- 英文论文题名：Height and Attitude Control for Small Unmanned Helicopter with Uncertainties and Disturbances
- 论文作者：Chao Ren ; Chaoyang Dong ; Qing Wang
- 英文论文作者：Chao Ren ; Chaoyang Dong ; Qing Wang ; School of Aeronautic Science and Engineering ; Beihang University ; School of Automation Science and Electrical Engineering ; Beihang University
- 年：2017
- 作者机构：School of Aeronautic Science and Engineering,Beihang University;School of Automation Science and Electrical Engineering,Beihang University;
- 英文论文关键词：Unmanned helicopter ; Backstepping ; Command filter ; Extended state observer ; Flapping dynamics
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：735k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, a command filter-based backstepping controller is proposed for robust height and attitude tracking for small unmanned helicopter with flapping dynamics. Firstly, the helicopter model is divided into height subsystem and attitude subsystem, which are presented in strict feedback form. Then a second-order command filter is applied to obtain the derivative of virtual control laws and introduce amplitude and rate limits into control signals, thus the explosion of differentiation terms problem during backstepping process is solved, and actuators saturation is avoided. Meanwhile, the extended state observer(ESO) is designed to estimate and compensate the total uncertainty, which includes parametric uncertainties and external disturbances. Furthermore, globally bounded stability of the closed-loop helicopter system is proved by using Lyapunov theory.Finally, simulation results illustrate the applicability of the proposed controller in the presence of uncertain terms in the model.
In this paper, a command filter-based backstepping controller is proposed for robust height and attitude tracking for small unmanned helicopter with flapping dynamics. Firstly, the helicopter model is divided into height subsystem and attitude subsystem, which are presented in strict feedback form. Then a second-order command filter is applied to obtain the derivative of virtual control laws and introduce amplitude and rate limits into control signals, thus the explosion of differentiation terms problem during backstepping process is solved, and actuators saturation is avoided. Meanwhile, the extended state observer(ESO) is designed to estimate and compensate the total uncertainty, which includes parametric uncertainties and external disturbances. Furthermore, globally bounded stability of the closed-loop helicopter system is proved by using Lyapunov theory.Finally, simulation results illustrate the applicability of the proposed controller in the presence of uncertain terms in the model.
In this paper, a command filter-based backstepping controller is proposed for robust height and attitude tracking for small unmanned helicopter with flapping dynamics. Firstly, the helicopter model is divided into height subsystem and attitude subsystem, which are presented in strict feedback form. Then a second-order command filter is applied to obtain the derivative of virtual control laws and introduce amplitude and rate limits into control signals, thus the explosion of differentiation terms problem during backstepping process is solved, and actuators saturation is avoided. Meanwhile, the extended state observer(ESO) is designed to estimate and compensate the total uncertainty, which includes parametric uncertainties and external disturbances. Furthermore, globally bounded stability of the closed-loop helicopter system is proved by using Lyapunov theory.Finally, simulation results illustrate the applicability of the proposed controller in the presence of uncertain terms in the model.
引文
[1]H.J.Kim,D.H.Shim,A flight control system for aerial robots:algorithms and experiments[J].Control engineering practice,2003,11(12):1389–1400.
[2]M.Bergerman,O.Amidi,J.R.Miller,et al,Cascaded position and heading control of a robotic helicopter[C].2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.IEEE,2007:135–140.
[3]X.Xia,Y.Ge,Finite–horizon optimal linear control for autonomous soft landing of small–scale helicopter[C].Information and Automation(ICIA),2010 IEEE International Conference on.IEEE,2010:1160–1164.
[4]A.Isidori,D.L.Marconi,and D.A.Serrani,Robust nonlinear motion control of a helicopter[M].Robust Autonomous Guidance.Springer London,2003:149–192.
[5]Y.Xu,Multi–timescale nonlinear robust control for a miniature helicopter[J].IEEE Transactions on Aerospace and Electronic systems,2010,46(2):656–671.
[6]B.Ahmed,F.Kendoul,Flight control of a small helicopter in unknown wind conditions[C].Decision and Control(CDC),2010 49th IEEE Conference on.IEEE,2010:3536–3541.
[7]I.A.Raptis,K.P.Valavanis,and W.A.Moreno,A novel nonlinear backstepping controller design for helicopters using the rotation matrix[J].IEEE Transactions on Control Systems Technology,2011,19(2):465–473.
[8]B.Ahmed,H.R.Pota,and M.Garratt,Flight control of a rotary wing UAV using backstepping[J].International Journal of Robust and Nonlinear Control,2010,20(6):639–658.
[9]Z.Meng,X.Ping,and X.Chen,A backstepping controller of an autonomous helicopter for trajectory tracking[C].Systems,Man,and Cybernetics(SMC),2015 IEEE International Conference on.IEEE,2015:2539–2542.
[10]Y.Zou,Z.Zheng,A robust adaptive RBFNN augmenting backstepping control approach for a model–scaled helicopter[J].IEEE Transactions on Control Systems Technology,2015,23(6):2344–2352.
[11]E.Frazzoli,M.A.Dahleh,and E.Feron,Trajectory tracking control design for autonomous helicopters using a backstepping algorithm[C].American Control Conference,2000.Proceedings of the 2000.IEEE,2000,6:4102–4107.
[12]B.Mettler,M.B.Tischler,and T.Kanade,System identification of small–size unmanned helicopter dynamics[C].Annual Forum Proceedings–American Helicopter Society,1999,2:1706–1717.
[13]J.Han,Auto disturbances rejection control technique[J].Frontier Science,2007,1(1):24–31.
[14]J.Han,Parameters of the extended state observer and fibonacci sequence[J].Control Engineering of China,2008,9(15):1–3.
[15]M.Ran,Q.Wang,and C.Dong,Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control[J].Automatica,2016,63:302–310.
[16]Q.Wang,M.Ran,and C.Dong,An analysis and design method for a class of nonlinear systems with nested saturations[J].International Journal of Control,2016,89(8):1711-1724.
[17]M.Ran,Q.Wang,and C.Dong,Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems[J].IEEE Transactions on Automatic Control,2016.
[18]H.Zhou,H.Pei,Y.He,et al,Trajectory tracking control for small unmanned helicopter with state constraints[J].Control Theory and Applications,2012,29(6):778-784.
[2]M.Bergerman,O.Amidi,J.R.Miller,et al,Cascaded position and heading control of a robotic helicopter[C].2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.IEEE,2007:135–140.
[3]X.Xia,Y.Ge,Finite–horizon optimal linear control for autonomous soft landing of small–scale helicopter[C].Information and Automation(ICIA),2010 IEEE International Conference on.IEEE,2010:1160–1164.
[4]A.Isidori,D.L.Marconi,and D.A.Serrani,Robust nonlinear motion control of a helicopter[M].Robust Autonomous Guidance.Springer London,2003:149–192.
[5]Y.Xu,Multi–timescale nonlinear robust control for a miniature helicopter[J].IEEE Transactions on Aerospace and Electronic systems,2010,46(2):656–671.
[6]B.Ahmed,F.Kendoul,Flight control of a small helicopter in unknown wind conditions[C].Decision and Control(CDC),2010 49th IEEE Conference on.IEEE,2010:3536–3541.
[7]I.A.Raptis,K.P.Valavanis,and W.A.Moreno,A novel nonlinear backstepping controller design for helicopters using the rotation matrix[J].IEEE Transactions on Control Systems Technology,2011,19(2):465–473.
[8]B.Ahmed,H.R.Pota,and M.Garratt,Flight control of a rotary wing UAV using backstepping[J].International Journal of Robust and Nonlinear Control,2010,20(6):639–658.
[9]Z.Meng,X.Ping,and X.Chen,A backstepping controller of an autonomous helicopter for trajectory tracking[C].Systems,Man,and Cybernetics(SMC),2015 IEEE International Conference on.IEEE,2015:2539–2542.
[10]Y.Zou,Z.Zheng,A robust adaptive RBFNN augmenting backstepping control approach for a model–scaled helicopter[J].IEEE Transactions on Control Systems Technology,2015,23(6):2344–2352.
[11]E.Frazzoli,M.A.Dahleh,and E.Feron,Trajectory tracking control design for autonomous helicopters using a backstepping algorithm[C].American Control Conference,2000.Proceedings of the 2000.IEEE,2000,6:4102–4107.
[12]B.Mettler,M.B.Tischler,and T.Kanade,System identification of small–size unmanned helicopter dynamics[C].Annual Forum Proceedings–American Helicopter Society,1999,2:1706–1717.
[13]J.Han,Auto disturbances rejection control technique[J].Frontier Science,2007,1(1):24–31.
[14]J.Han,Parameters of the extended state observer and fibonacci sequence[J].Control Engineering of China,2008,9(15):1–3.
[15]M.Ran,Q.Wang,and C.Dong,Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control[J].Automatica,2016,63:302–310.
[16]Q.Wang,M.Ran,and C.Dong,An analysis and design method for a class of nonlinear systems with nested saturations[J].International Journal of Control,2016,89(8):1711-1724.
[17]M.Ran,Q.Wang,and C.Dong,Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems[J].IEEE Transactions on Automatic Control,2016.
[18]H.Zhou,H.Pei,Y.He,et al,Trajectory tracking control for small unmanned helicopter with state constraints[J].Control Theory and Applications,2012,29(6):778-784.