Robust Altitude and Attitude Model Free Control for a Microcoaxial Helicopter
Autor: | Khelil Sidi Brahim, Djamel Eddine Touil, Nadjiba Terki |
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Rok vydání: | 2020 |
Předmět: |
Lyapunov function
Computer science 05 social sciences 050801 communication & media studies Model free law.invention Nonlinear system symbols.namesake 0508 media and communications Coaxial rotors law Control theory Robustness (computer science) Backstepping 0502 economics and business symbols 050211 marketing |
Zdroj: | 020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP). |
Popis: | In this paper, a model-free control based on non-linear backstepping control (MFC-NB) approach is proposed for a micro coaxial helicopter. MFC is a technique dedicated to systems with insufficient knowledge of their model or a system influenced by uncertainties and external disturbances. The proposed control strategy is based on combined techniques: nonlinear Backstepping (NB) as a feedback controller and modelfree control (MFC) is introduced to eliminate undesirable effects. Then, the stability analysis is proved via Lyapunov theory. Simulation results with robustness tests have demonstrated the robust performance and the efficiency of the proposed method. |
Databáze: | OpenAIRE |
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