Position control of a small helicopter using robust backstepping

In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the ro...

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Bibliographic Details
Published in2012 7th International Conference on Electrical and Computer Engineering pp. 787 - 790
Main Author Roy, T. K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2012
Subjects
Backstepping
Computational modeling
external wind gusts
Helicopters
Lyapunov function
Mathematical model
robust backstepping
Robustness
Rotors
Simulation
UAH
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Summary:In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.
ISBN:146731434X
9781467314343
DOI:10.1109/ICECE.2012.6471668