Height and attitude tracking control of an unmanned helicopter via a HDOB-backstepping composite control method

Height and attitude tracking control of an unmanned helicopter via a HDOB-backstepping composite control method

This study studies the height and attitude tracking control problem of an unmanned helicopter system with disturbances. A composite controller based on the combination of harmonic disturbance observers and backstepping technique is proposed to achieve asymptotic tracking for height and attitude. Fir...

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Bibliographic Details
Main Authors: Ling Han, Xiangyu Wang, Shihua Li, Jiyu Liu
Format: Article
Language:English
Published: Wiley 2019-11-01
Series:The Journal of Engineering
Subjects:
closed loop systems
adaptive control
nonlinear control systems
control nonlinearities
observers
lyapunov methods
helicopters
uncertain systems
attitude control
robust control
stability
control system synthesis
unknown disturbances
composite controller
attitude tracking goal
hdob-backstepping composite control method
attitude tracking control problem
unmanned helicopter system
harmonic disturbance observers
backstepping technique
asymptotic tracking
Online Access:https://digital-library.theiet.org/content/journals/10.1049/joe.2019.1065

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https://digital-library.theiet.org/content/journals/10.1049/joe.2019.1065

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