Adaptive Integral Backstepping Controller for an autonomous rotorcraft

机译：自主旋翼飞机的自适应积分反推控制器

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in this paper, a new control approach is proposed using adaptive integral backstepping controller (AIBC) for controlling an autonomous rotorcraft. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the helicopter model. In addition, a Lyapunov-based velocity controller (LVC) is introduced to work side by side with the AIBC for hover and like-hover control. Simulation results show that the proposed algorithms are capable of controlling the nonlinear helicopter model, while showing robustness against disturbances and model uncertainties.

机译：本文提出了一种利用自适应积分反推控制器（AIBC）控制自主旋翼飞机的新控制方法。反推技术中的递归Lyapunov方法将确保系统稳定性，积分作用将增加系统对干扰和模型不确定性的鲁棒性，而适应律将估算由简化直升机模型的复杂性中的假设引起的建模误差。此外，引入了基于Lyapunov的速度控制器（LVC）与AIBC并排工作，以进行悬停和类似悬停控制。仿真结果表明，所提出的算法能够控制非线性直升机模型，同时表现出对干扰和模型不确定性的鲁棒性。

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来源
《Mechatronics and its Applications, 2009. ISMA '09》|2009年|1-7|共7页
会议地点 Sharjah(AE);Sharjah(AE)
作者
Al-Younes Y.; Jarrah M.A.; Sukkarieh S.;
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Mechatron. Grad. Program, American Univ. of Sharjah, Sharjah, United Arab Emirates;

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Lyapunov methods; adaptive control; aerospace robotics; helicopters; nonlinear control systems; robust control; uncertain systems; velocity control; Lyapunov-based velocity controller; adaptive integral backstepping controller; autonomous rotorcraft; like-hover control; model uncertainties; recursive Lyapunov methodology; system stability; Integral Backstepping Controller; UAV Control;

机译：Lyapunov方法;自适应控制;航空航天机器人技术;直升机;非线性控制系统;鲁棒控制;不确定系统;速度控制;基于Lyapunov的速度控制器;自适应积分反推控制器;自主旋翼飞机;类似悬停控制;模型不确定性;递归Lyapunov方法;系统稳定性;集成Backstepping控制器; UAV控制;

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4. Adaptive Integral Backstepping Controller for an Autonomous Rotorcraft [C] . Younes Al-Younes, M. A. Jarrah, Salah Sukkarieh International Symposium on Mechatronics and its Applications . 2009

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Adaptive Integral Backstepping Controller for an autonomous rotorcraft

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