Singularity-Free Robust Adaptive Controller for Miniature Helicopters

Yao Zou, Liang Zhong, Xiuyu He, W. He
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Abstract

A singularity-free robust adaptive trajectory tracking controller is designed for miniature helicopters with uncertain inertial parameters. Firstly, a position loop controller is developed with the saturation control scheme. Then, a novel attitude loop controller with initial condition constraint proposed for the attitude tracking to the command one. Further, adaptive laws with the projection algorithm are proposed to estimate the uncertain inertial parameters. It is demonstrated that, with the developed controller, the bounded trajectory tracking objective is accomplished.
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微型直升机无奇异鲁棒自适应控制器
针对具有不确定惯性参数的微型直升机,设计了一种无奇异鲁棒自适应轨迹跟踪控制器。首先,采用饱和控制方案设计了位置环控制器。然后,提出了一种具有初始条件约束的姿态环控制器,用于姿态跟踪到命令姿态。在此基础上,提出了基于投影算法的自适应律对不确定惯性参数的估计。仿真结果表明,所设计的控制器能够实现有界轨迹跟踪目标。
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