NDLI: An adaptive attitude tracking control approach for an unmanned helicopter with parametric uncertainties and measurement noises

Content Provider	Springer Nature Link
Author	Sheng, Shouzhao Sun, Chenwu
Copyright Year	2016
Abstract	The attitude control system design for an unmanned helicopter is always a challenging task because the vehicle dynamics are highly nonlinear and fully coupled and subject to parametric uncertainties. This paper presents an adaptive attitude tracking controller with dual model structure, which achieves significant tracking performance and has good capability to overcome the adverse effect of measurement noises on the convergence of adjustable parameters. Moreover, a modified controller with variable gain elements is designed to further reduce the adverse effect of measurement noises on the adjustable system output in the later stage of the adaptive learning process. A series of hardware-in-loop simulations have verified the proposed adaptive control schemes. The suggested design methodologies featured in this paper are effective control tools that can help bridge the gaps between adaptive control theory and the need of realistic applications such as high-performance unmanned helicopters.
Starting Page	217
Ending Page	228
Page Count	12
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	1
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-02-11
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Adaptive control attitude control measurement noises parametric uncertainties unmanned helicopter Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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