Robust Trajectory Tracking Control for Small-Scale Unmanned Helicopters With Model Uncertainties

Marantos, Panos; Bechlioulis, Charalampos P.; Kyriakopoulos, Kostas J.

doi:10.1109/tcst.2016.2642160

Cited by 60 publications

(25 citation statements)

References 18 publications

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“…The prescribed performance can be achieved by guaranteeing that the tracking error e y evolves within the following specified range strictly 33,35,36 where ey=[ey1,ey2,ey3,ey4] T,λ1i and λ 2 i are the designed parameters satisfying λ 1 i ∈ (0, 1] and λ 2 i ∈ (0, 1]. χ i is the performance function which is defined as 33,35,36 where δ i > 0 and χi0>χi∞>0 are the positive constants. According to the definition of χ i ( t ), it is obvious that χ i (0) = χ i 0 and limt→∞χi(t)=χi∞.…”

Section: Problem Formulation and Preparationmentioning

confidence: 99%

“…Considering the properties of increasing smooth function Q (⋅), the error transformation functions β i ( i = 1, 2, 3, 4) is chosen to guarantee the prescribed performance of e yi as follows 33,35,36 where α ( e yi (0)/ χ i (0)) satisfies …”

Section: Control Design and Stability Analysismentioning

confidence: 99%

“…Up to now, there have been mainly three methods to cope with the performance constraint problem including the barrier Lyapunov function method, 31 the funnel control method 32 and the error transformation method. 33–36 In especial, the error transformation method plays an important role in improving the performance of the controlled system and considerable research results have been published. In Marantos et al., 33 by exploiting the concepts and techniques of prescribed performance control, the trajectory tracking control problem for small-scale UAH with model uncertainties was handled and the tracking error satisfied the prescribed transient and steady-state response.…”

Section: Introductionmentioning

confidence: 99%

“…33–36 In especial, the error transformation method plays an important role in improving the performance of the controlled system and considerable research results have been published. In Marantos et al., 33 by exploiting the concepts and techniques of prescribed performance control, the trajectory tracking control problem for small-scale UAH with model uncertainties was handled and the tracking error satisfied the prescribed transient and steady-state response. In Yang et al., 34 a prescribed performance-based distributed cooperative control strategy was developed for a nonlinear 3-DOF UAH to achieve the attitude synchronization in the presence of input saturation.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Neural network-based adaptive fault tolerant tracking control for unmanned autonomous helicopters with prescribed performance

Yan

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this paper, the issue of prescribed performance-based fault tolerant control is investigated for the medium-scale unmanned autonomous helicopter with external disturbance, system uncertainty and actuator fault. The altitude and attitude combination unmanned autonomous helicopter model is established. An error transformation function is proposed to guarantee that the tracking error satisfies the prescribed performance. The parameter adaptation method is adopted to handle the external unknown disturbance and the radial basis function neural networks are employed to approximate the interaction functions including the system uncertainty. The auxiliary system is introduced to weaken the effect of actuator fault, which can effectively avoid the singularity. Based on the backstepping control technology, an adaptive neural fault tolerant control scheme is developed to ensure the boundness of all closed-loop system signals and the specified tracking error performance. Simulation studies on the medium-scale unmanned autonomous helicopter are performed to demonstrate the efficiency of the designed control strategy.

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Section: Problem Formulation and Preparationmentioning

confidence: 99%

Section: Control Design and Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Neural network-based adaptive fault tolerant tracking control for unmanned autonomous helicopters with prescribed performance

Yan

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Therefore, it is imperative to investigate finite-time robust flight controllers for unmanned helicopters in the presence of disturbances. [3][4][5][6] In the past decades, many elegant control methods have been employed for the unmanned helicopters, such as linear quadratic gaussian, 7 H ∞ , 8 feedback-linearization control, 9 backstepping, 10 sliding-mode control (SMC). 11 Above all, the SMC method has drawn much attention for its superior disturbance rejection ability.…”

Section: Introductionmentioning

confidence: 99%

High‐order mismatched disturbance rejection control for small‐scale unmanned helicopter via continuous nonsingular terminal sliding‐mode approach

Fang

Liu

2018

Intl J Robust & Nonlinear

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In this paper, the problem of finite-time control for small-scale unmanned helicopter system with high-order mismatched disturbance is investigated via continuous nonsingular terminal sliding-mode control approach. The key idea is to design a novel nonlinear dynamic sliding-mode surface based on finite-time disturbance observer. Then, the finite-time convergence and chattering attenuation capability is guaranteed by the continuous nonsingular terminal sliding-mode control law. Additionally, rigorous finite-time stability analysis for the closed-loop helicopter system is given by means of the Lyapunov theory. Finally, some simulation results demonstrate the effectiveness and predominant properties of the proposed control method for the small-scale unmanned helicopter even in the presence of high-order mismatched disturbance. KEYWORDS continuous nonsingular terminal sliding mode control (CNTSMC), finite-time disturbance observer (FTDO), high-order mismatched disturbance, unmanned helicopter Int J Robust Nonlinear Control. 2019;29:935-948.wileyonlinelibrary.com/journal/rnc

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On the Tip–Path-Plane Flapping Angles Estimation for Small–Scale Flybarless Helicopters at Near–Hover

Al-Sharman

Abdel–Hafez

2019

New Developments and Advances in Robot Control

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Robust Trajectory Tracking Control for Small-Scale Unmanned Helicopters With Model Uncertainties

Cited by 60 publications

References 18 publications

Neural network-based adaptive fault tolerant tracking control for unmanned autonomous helicopters with prescribed performance

Neural network-based adaptive fault tolerant tracking control for unmanned autonomous helicopters with prescribed performance

High‐order mismatched disturbance rejection control for small‐scale unmanned helicopter via continuous nonsingular terminal sliding‐mode approach

On the Tip–Path-Plane Flapping Angles Estimation for Small–Scale Flybarless Helicopters at Near–Hover

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