Robust Trajectory Tracking Control for Small-Scale Unmanned Helicopters With Model Uncertainties
| Autor: | Kostas J. Kyriakopoulos, Charalampos P. Bechlioulis, Panos Marantos |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Control engineering 02 engineering and technology Aerodynamics 01 natural sciences Low complexity Attitude control Performance control 020901 industrial engineering & automation Control and Systems Engineering Control theory Robustness (computer science) Wind gust 0103 physical sciences Electrical and Electronic Engineering Robust control Explicit knowledge business 010301 acoustics |
| Zdroj: | IEEE Transactions on Control Systems Technology. 25:2010-2021 |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2016.2642160 |
| Popis: | This paper addresses the trajectory tracking control problem for small-scale unmanned helicopters with model uncertainties. In particular, we propose a robust control scheme that is decomposed into a position and an attitude control modules, operating in a cascaded form, and does not depend on the explicit knowledge of the value of the model parameters. Exploiting the concepts and techniques of prescribed performance control, each module guarantees trajectory tracking with prescribed transient and steady-state response, despite the presence of external disturbances, such as wind gusts and ground effect phenomena. Additionally, a novel reformulation of the translational dynamics reveals a sufficient condition for closed-loop stability and allows us to extract the appropriate attitude commands straightforwardly. Moreover, the derived control algorithms are of low complexity and thus can be efficiently implemented on low-cost, aerial embedded systems of limited power and computational resources. Finally, the efficacy of the proposed control scheme is verified via extensive experimental studies using an autonomous small-scale helicopter. |
| Databáze: | OpenAIRE |
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