| Autor: |
Yoo-Seung Choi, Il-Ryeong Lee, Jun-Young An, Moon-Gyeang Cho, Chang-Joo Kim |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
International Journal of Aerospace Engineering, Vol 2022 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1687-5974 |
| DOI: |
10.1155/2022/8447125 |
| Popis: |
This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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