Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (5): 1-8.doi: 10.3969/j.issn.1000-565X.2013.05.001

• Electronics, Communication & Automation Technology •     Next Articles

Trajectory Tracking Control of Unmanned Helicopters by Using Adaptive Dynamic Surface Approach

He Yue-bang Pei Hai-long Ye Xiang Zhang Qian   

  1. Key Laboratory of Autonomous Systems and Networked Control of the Ministry of Education,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2012-08-05 Revised:2012-10-19 Online:2013-05-25 Published:2013-04-01
  • Contact: 裴海龙(1965-)，男，教授，博士生导师，主要从事非线性控制及人工神经网络研究． E-mail:auhlpei@scut.edu.cn
  • About author:贺跃帮(1983-)，男，博士生，主要从事无人直升机自主控制研究．E-mail:heyuebang@gmail．com
  • Supported by:

    国家自然科学基金重点项目( 60376024， 61174053) ; 教育部科技创新工程重大项目( 7080690)

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Abstract:

As the existing unmanned helicopter models are of high order and great load change,a control methodbased on the adaptive dynamic surface approach is proposed.In this method,first,one-order linear filters are usedto estimate the time derivatives of virtual control signals,thus significantly simplifying the design of the controller.Then,an on-line adaptive law is used to estimate the helicopter mass,thus guaranteeing the stability of the closedloopsystem with variable load.Finally,the semi-global uniform bound of tracking errors is proved based on theLyapunov stability theory..Simulated results indicate that the proposed method is effective and feasible.

Key words: unmanned helicopter, adaptive dynamic surface control, trajectory tracking, Lyapunov stability

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