Robust Adaptive Integral Backstepping Control of a 3-DOF Helicopter

作     者：Fang, Zheng Gao, Weinan Zhang, Lei 

作者机构：Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 (国际先进机器人系统杂志)

年 卷 期：2012年第9卷第3期

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：State Key Lab of Synthetical Automation for Process Industries (SKL) Fundamental Research Funds for the Central Universities [N100408003] National Science Foundation of China Applied Basic Research Fund of Shenyang Municipal Science Technology Project [F10-205-1-50] 

主　　题：Adaptive control Backstepping algorithm Integral action 3-DOF helicopter Model uncertainties 

摘      要：Unmanned aerial vehicles have enormous potential applications in military and civil fields. A Quanser s 3-DOF helicopter is a simplified and benchmark experimental model for validating the effectiveness of various flight control algorithms. The attitude control of the 3-DOF helicopter is a challenging task since the helicopter is an under-actuated system with strong coupling and model uncertainty characteristics. In this paper, an adaptive integral backstepping algorithm is proposed to realize robust control of the 3-DOF helicopter. The proposed control algorithm can estimate model uncertainties online and improve the robustness of the control system. Simulation and experiment results demonstrate that the proposed algorithm performs well in tracking and under model uncertainties.