Attitude control of a small-scale helicopter based on backstepping
In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. Backstepping technique is adopted to derive the control law, and extended state observer is applied to estimate the immeasurabl...
Gespeichert in:
| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering Journal of aerospace engineering, 2015-03, Vol.229 (3), p.502-516 |
|---|---|
| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 516 |
|---|---|
| container_issue | 3 |
| container_start_page | 502 |
| container_title | Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering |
| container_volume | 229 |
| creator | Tang, Shuai Yang, QiuHui Qian, ShaoKe Zheng, ZhiQiang |
| description | In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. Backstepping technique is adopted to derive the control law, and extended state observer is applied to estimate the immeasurable states and disturbance. Together with these two approaches, sliding mode controller is designed to force the actual attitude of the closed-loop system to converge to the reference attitude. Simulation and experimental results show that the proposed controller yields excellent performance and robustness. |
| doi_str_mv | 10.1177/0954410014537240 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_1677914394</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_0954410014537240</sage_id><sourcerecordid>3607645301</sourcerecordid><originalsourceid>FETCH-LOGICAL-c342t-eca58a4c8f99b22913a3ec400eb6744d585ca990ea8f943febb57ea338f51ab73</originalsourceid><addsrcrecordid>eNp1kL1PwzAQxS0EEqWwM1piYQn4M07GgviSKrHAHF3cS0lx42A7A_89rsqAKnHLnfR-7-n0CLnk7IZzY25ZrZXijHGlpRGKHZGZYIoXkgl9TGY7udjpp-Qsxg3Lo0s5I3eLlPo0rZBaP6TgHfUdBRq34FwRLTikH-h668eEgbYQcUX9kA_7GROOYz-sz8lJBy7ixe-ek_fHh7f752L5-vRyv1gWViqRCrSgK1C26uq6FaLmEiRaxRi2pVFqpSttoa4ZQiaU7LBttUGQsuo0h9bIObne547Bf00YU7Pto0XnYEA_xYaXxtRcyWyek6sDdOOnMOTvMqUrY0oldKbYnrLBxxiwa8bQbyF8N5w1u1Kbw1KzpdhbIqzxT-h__A8Oa3VR</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1658776425</pqid></control><display><type>article</type><title>Attitude control of a small-scale helicopter based on backstepping</title><source>SAGE Complete A-Z List</source><creator>Tang, Shuai ; Yang, QiuHui ; Qian, ShaoKe ; Zheng, ZhiQiang</creator><creatorcontrib>Tang, Shuai ; Yang, QiuHui ; Qian, ShaoKe ; Zheng, ZhiQiang</creatorcontrib><description>In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. Backstepping technique is adopted to derive the control law, and extended state observer is applied to estimate the immeasurable states and disturbance. Together with these two approaches, sliding mode controller is designed to force the actual attitude of the closed-loop system to converge to the reference attitude. Simulation and experimental results show that the proposed controller yields excellent performance and robustness.</description><identifier>ISSN: 0954-4100</identifier><identifier>EISSN: 2041-3025</identifier><identifier>DOI: 10.1177/0954410014537240</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Aerospace engineering ; Attitude control ; Closed loop systems ; Control systems ; Controllers ; Disturbances ; Dynamical systems ; Dynamics ; Estimates ; Helicopters ; Simulation ; Small scale</subject><ispartof>Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering, 2015-03, Vol.229 (3), p.502-516</ispartof><rights>IMechE 2014 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav</rights><rights>Copyright SAGE PUBLICATIONS, INC. Mar 2015</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c342t-eca58a4c8f99b22913a3ec400eb6744d585ca990ea8f943febb57ea338f51ab73</citedby><cites>FETCH-LOGICAL-c342t-eca58a4c8f99b22913a3ec400eb6744d585ca990ea8f943febb57ea338f51ab73</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/0954410014537240$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/0954410014537240$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,776,780,21798,27901,27902,43597,43598</link.rule.ids></links><search><creatorcontrib>Tang, Shuai</creatorcontrib><creatorcontrib>Yang, QiuHui</creatorcontrib><creatorcontrib>Qian, ShaoKe</creatorcontrib><creatorcontrib>Zheng, ZhiQiang</creatorcontrib><title>Attitude control of a small-scale helicopter based on backstepping</title><title>Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering</title><description>In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. Backstepping technique is adopted to derive the control law, and extended state observer is applied to estimate the immeasurable states and disturbance. Together with these two approaches, sliding mode controller is designed to force the actual attitude of the closed-loop system to converge to the reference attitude. Simulation and experimental results show that the proposed controller yields excellent performance and robustness.</description><subject>Aerospace engineering</subject><subject>Attitude control</subject><subject>Closed loop systems</subject><subject>Control systems</subject><subject>Controllers</subject><subject>Disturbances</subject><subject>Dynamical systems</subject><subject>Dynamics</subject><subject>Estimates</subject><subject>Helicopters</subject><subject>Simulation</subject><subject>Small scale</subject><issn>0954-4100</issn><issn>2041-3025</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp1kL1PwzAQxS0EEqWwM1piYQn4M07GgviSKrHAHF3cS0lx42A7A_89rsqAKnHLnfR-7-n0CLnk7IZzY25ZrZXijHGlpRGKHZGZYIoXkgl9TGY7udjpp-Qsxg3Lo0s5I3eLlPo0rZBaP6TgHfUdBRq34FwRLTikH-h668eEgbYQcUX9kA_7GROOYz-sz8lJBy7ixe-ek_fHh7f752L5-vRyv1gWViqRCrSgK1C26uq6FaLmEiRaxRi2pVFqpSttoa4ZQiaU7LBttUGQsuo0h9bIObne547Bf00YU7Pto0XnYEA_xYaXxtRcyWyek6sDdOOnMOTvMqUrY0oldKbYnrLBxxiwa8bQbyF8N5w1u1Kbw1KzpdhbIqzxT-h__A8Oa3VR</recordid><startdate>20150301</startdate><enddate>20150301</enddate><creator>Tang, Shuai</creator><creator>Yang, QiuHui</creator><creator>Qian, ShaoKe</creator><creator>Zheng, ZhiQiang</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>H8D</scope><scope>L7M</scope></search><sort><creationdate>20150301</creationdate><title>Attitude control of a small-scale helicopter based on backstepping</title><author>Tang, Shuai ; Yang, QiuHui ; Qian, ShaoKe ; Zheng, ZhiQiang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c342t-eca58a4c8f99b22913a3ec400eb6744d585ca990ea8f943febb57ea338f51ab73</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Aerospace engineering</topic><topic>Attitude control</topic><topic>Closed loop systems</topic><topic>Control systems</topic><topic>Controllers</topic><topic>Disturbances</topic><topic>Dynamical systems</topic><topic>Dynamics</topic><topic>Estimates</topic><topic>Helicopters</topic><topic>Simulation</topic><topic>Small scale</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tang, Shuai</creatorcontrib><creatorcontrib>Yang, QiuHui</creatorcontrib><creatorcontrib>Qian, ShaoKe</creatorcontrib><creatorcontrib>Zheng, ZhiQiang</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Tang, Shuai</au><au>Yang, QiuHui</au><au>Qian, ShaoKe</au><au>Zheng, ZhiQiang</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Attitude control of a small-scale helicopter based on backstepping</atitle><jtitle>Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering</jtitle><date>2015-03-01</date><risdate>2015</risdate><volume>229</volume><issue>3</issue><spage>502</spage><epage>516</epage><pages>502-516</pages><issn>0954-4100</issn><eissn>2041-3025</eissn><abstract>In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. Backstepping technique is adopted to derive the control law, and extended state observer is applied to estimate the immeasurable states and disturbance. Together with these two approaches, sliding mode controller is designed to force the actual attitude of the closed-loop system to converge to the reference attitude. Simulation and experimental results show that the proposed controller yields excellent performance and robustness.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1177/0954410014537240</doi><tpages>15</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0954-4100 |
| ispartof | Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering, 2015-03, Vol.229 (3), p.502-516 |
| issn | 0954-4100 2041-3025 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1677914394 |
| source | SAGE Complete A-Z List |
| subjects | Aerospace engineering Attitude control Closed loop systems Control systems Controllers Disturbances Dynamical systems Dynamics Estimates Helicopters Simulation Small scale |
| title | Attitude control of a small-scale helicopter based on backstepping |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-05T03%3A52%3A27IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Attitude%20control%20of%20a%20small-scale%20helicopter%20based%20on%20backstepping&rft.jtitle=Proceedings%20of%20the%20Institution%20of%20Mechanical%20Engineers.%20Part%20G,%20Journal%20of%20aerospace%20engineering&rft.au=Tang,%20Shuai&rft.date=2015-03-01&rft.volume=229&rft.issue=3&rft.spage=502&rft.epage=516&rft.pages=502-516&rft.issn=0954-4100&rft.eissn=2041-3025&rft_id=info:doi/10.1177/0954410014537240&rft_dat=%3Cproquest_cross%3E3607645301%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=1658776425&rft_id=info:pmid/&rft_sage_id=10.1177_0954410014537240&rfr_iscdi=true |