Integral-backstepping-based Attitude Control for UAH with Immeasurable States
作者单位：Control and Simulation Center Harbin Institute of Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化]
关 键 词：UAH Flapping dynamics Integral-backstepping High-gain observer
摘 要：In this paper, a new control scheme is proposed for the attitude control of unmanned autonomous helicopter（UAH）with immeasurable states. For the design of the control scheme, the attitude model of UAH considering flapping dynamics which is used to illustrate the change of flapping angles is established firstly. However, it is unpractical to install a sensor on the rotor to measure the flapping angles in actual system. In order to get the flapping angles in real time, a high-gain observer is applied.Meanwhile, the integral-backstepping algorithm is adopted to design the controller. By using Lyapunov theory, the stability of the closed-loop system is illustrated. Besides, the effectiveness of the proposed method is verified by numerical simulations,compared with the results obtained by the linear extend state observer.