Attitude tracking control problem for unmanned helicopter (UH) is investigated in this paper. Considering the influence of model uncertainties and external disturbances, a strong adaptive attitude tracking controller is proposed. To reduce attitude tracking error and acquire expected flying qualities, the controller adopts a dual-model structure, which simplifies design of the control law by separating model tracking parameters design from adaptive control. In addition, the convergence rate of adaptive parameters is accelerated obviously as a result of introducing a linear compensator, and the effect of sensor noise on adaptive parameters adjustment is reduced effectively by a state filter. Numerical simulations illustrate the effectiveness and feasibility of this attitude control.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive dynamic attitude tracking controller design with dual-model structure for unmanned helicopter


    Contributors:


    Publication date :

    2014-08-01


    Size :

    317469 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Adaptive attitude controller design for unmanned helicopter

    Zhang, Xingwen / Chen, Xianxiang / Liu, Peizhi et al. | IEEE | 2017



    ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter

    Dan Ryals, Andrea / Bertolani, Giulia / Pollini, Lorenzo et al. | IEEE | 2023


    Nonlinear Asymptotic Attitude Tracking Control for an Unmanned Helicopter Using Repetitive Learning

    Zhang, Xu / Xian, Bin | British Library Conference Proceedings | 2022