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Singularity-free non-linear controller for a model-scaled autonomous helicopter

Content Provider	IET Digital Library
Author	Zou, Yao Huo, Wei
Abstract	A singularity-free non-linear controller is proposed for trajectory tracking of a model-scaled autonomous helicopter. The helicopter model is firstly decomposed into a nominal one with unmodelled dynamics. Based on the decomposed model, the controller is designed with the hierarchical inner–outer loop strategy. The outer position loop controller is designed with hyperbolic tangent functions, and criteria for controller parameter selections are developed to realise the position tracking and to obviate singularity in deriving the command attitude from the position loop controller. The inner attitude loop controller is designed based on barrier Lyapunov function and backstepping technique to achieve the attitude tracking without singularity during the tracking process. In addition, in order to improve the tracking performance, observers are employed to compensate the unmodelled dynamics. Simulation of two manoeuvres verify the proposed theoretical results.
Starting Page	210
Ending Page	219
Page Count	10
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 2, Jan (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/2
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0565
Journal	IET Control Theory & Applications
Publisher Date	2016-01-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Aerospace Simulation Attitude Control Attitude Tracking Autonomous Aerial Vehicle Backstepping Technique Barrier Lyapunov Function Command Attitude Control Nonlinearities Controller Parameter Selection Helicopters Hierarchical Inner-outer Loop Strategy Hyperbolic Tangent Function Inner Attitude Loop Controller Design Lyapunov Method Manoeuvre Simulation Mobile Robots Model-scaled Autonomous Helicopter Modelling And Identification Nonlinear Control System Observer Observers Outer Position Loop Controller Design Position Control Position Tracking Robot And Manipulator Mechanics Robot Dynamics Simulation Singularity-free Nonlinear Controller Spatial Variables Control Stability in Control Theory Telerobotics Trajectory Control Trajectory Tracking Unmodelled Dynamics
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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