Nonlinear Control for a Model-scaled Helicopter with Constraints on Rotor Thrust and Fuselage Attitude

Q2 Computer Science 自动化学报 Pub Date : 2014-11-01 DOI:10.1016/S1874-1029(14)60411-0
Bing ZHU , Wei HUO
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引用次数: 16

Abstract

A nonlinear control is proposed for trajectory tracking of a 6-DOF model-scaled helicopter with constraints on main rotor thrust and fuselage attitude. In the procedure of control design, the mathematical model of helicopter is simplified into three subsystems: altitude subsystem, longitudinal-lateral subsystem and attitude subsystem. The proposed control is developed by combining the sub-controls for the corresponding subsystems. The sub-controls for altitude subsystem and longitudinal-lateral subsystem are designed with hyperbolic tangent functions to satisfy the constraints; the sub-control for attitude subsystem is based on backstepping technique such that fuselage attitude tracks the virtual control for longitudinal-lateral subsystem. It is proved theoretically that tracking errors are ultimately bounded, and control constraints are satisfied. Performances of the proposed controller are demonstrated by simulation results.

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具有旋翼推力和机身姿态约束的模型直升机非线性控制
提出了一种具有主旋翼推力和机身姿态约束的六自由度模型直升机的非线性轨迹跟踪控制方法。在控制设计过程中,将直升机的数学模型简化为高度分系统、纵横分系统和姿态分系统三个子系统。提出的控制是通过结合相应子系统的子控制来开发的。为满足约束条件,采用双曲正切函数设计了海拔分系统和纵横分系统的子控制;姿态分系统的子控制基于后步技术,使机身姿态跟踪纵侧向分系统的虚拟控制。从理论上证明了跟踪误差最终是有界的,并且满足控制约束。仿真结果验证了所提控制器的性能。
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来源期刊
自动化学报
自动化学报 Computer Science-Computer Graphics and Computer-Aided Design
CiteScore
4.80
自引率
0.00%
发文量
6655
期刊介绍: ACTA AUTOMATICA SINICA is a joint publication of Chinese Association of Automation and the Institute of Automation, the Chinese Academy of Sciences. The objective is the high quality and rapid publication of the articles, with a strong focus on new trends, original theoretical and experimental research and developments, emerging technology, and industrial standards in automation.
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