Position tracking control of a helicopter in ground effect using nonlinear disturbance observer-based incremental backstepping approach

Jinshuo, Hu; Huang, Jianzhe; Gao, Zhenxing; Gu, Hong

doi:10.1016/j.ast.2018.08.002

Cited by 20 publications

(8 citation statements)

References 25 publications

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“…Since airships working in the stratosphere often meet unknown disturbances such as winds, coupling effects from other subsystems, and environmental and sun radiation noise, a nonlinear disturbance observer-based control (DOBC) approach is introduced in this paper to enhance the disturbance attenuation ability and performance robustness of the BSMC. The disturbance observer-based technique has been applied to the control of nonlinear systems and systems with unknown disturbances for decades (Chen et al, 2016), where an observer is designed to estimate external disturbances or ignore nonlinear dynamics and then compensate for them (Hu et al, 2018). Chen (2003) proposed a composite controller based on DO for the autopilot of a missile.…”

Section: Introductionmentioning

confidence: 99%

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

Liu

Whidborne

2021

Advances in Space Research

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Section: Introductionmentioning

confidence: 99%

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

Liu

Whidborne

2021

Advances in Space Research

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“…Considering such advantages, DOBC methods have been employed into flight control of unmanned helicopters with disturbances (Fang et al, 2016; Hu et al, 2018; Wang et al, 2018b). Specifically, in Hu et al (2018) and Wang et al (2018b), backstepping and DOBC were integrated together to design composite flight controllers. However, the “explosion of terms” problem may still occur in these results.…”

Section: Introductionmentioning

confidence: 99%

“…In light of such a control framework, DOBC provides stronger ability, faster responses, and less conservativeness to handle the disturbances compared with pure feedback control (Chen, 2004;Chen et al, 2016;Li et al, 2014;Sun and Li, 2016;Wang et al, 2016;Yao et al, 2019Yao et al, , 2020Yi et al, 2015). Considering such advantages, DOBC methods have been employed into flight control of unmanned helicopters with disturbances (Fang et al, 2016;Hu et al, 2018;Wang et al, 2018b). Specifically, in Hu et al (2018) and Wang et al (2018b), backstepping and DOBC were integrated together to design composite flight controllers.…”

Section: Introductionmentioning

confidence: 99%

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

Wang

Han

Liu³

2021

Transactions of the Institute of Measurement and Control

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In this paper, the attitude and height tracking control problem is studied for unmanned helicopters with disturbances. To solve the problem, a composite control scheme is proposed based on the combination of dynamic surface control and disturbance observer-based control techniques. The control design includes two parts. In the first part, some nonlinear disturbance observers are designed to accurately estimate the helicopter’s disturbances in different channels. In the second part, based on the disturbance estimates and dynamic surface control technique, a composite dynamic surface tracking controller is designed. Under the proposed composite controller, the attitude and height tracking errors are uniformly ultimately bounded and they can be regulated to be very small by selecting proper controller parameters. For one thing, the proposed control scheme avoids “explosion of terms”, which generally exists in conventional backstepping control and provides a simpler control design. For another thing, without sacrificing the nominal control performances, the anti-disturbance ability of the closed-loop helicopter system is enhanced by using disturbance observers and feedforward compensations. Numerical simulations demonstrate the effectiveness and advantages of the proposed composite tracking controller.

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“…To apply some useful nonlinear information, the backstepping approach is proposed to design robust controller for strict feedback systems through construction of Control Lyapunov functions (CLFs). Nonlinear backstepping design has been widely studied for other aircraft [5][6]. The backstepping method was first applied to process the flight decomposition control problem of an unmanned airship model [7].…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding-mode-backstepping trajectory tracking control of underactuated airships

Liu

Sang

Whidborne

2020

Aerospace Science and Technology

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The problem of trajectory tracking control for an underactuated stratospheric airship with model parameter uncertainties and wind disturbances is addressed in the paper. An adaptive backstepping sliding-mode controller is designed from the airship nonlinear dynamics model. The proposed controller has a two-level structure for trajectory guidance, tracking and stability, and the developed controller, based on nonlinear adaptive sliding-mode backstepping method, provides airship attitude and velocity control for the entire flight process. Furthermore, an active set based weighted least square algorithm is applied to find the optimal control surface inputs and the thruster commands under constraints of actuator saturation. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and PID design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission under two cases of lateral-and roll-underactuations, even in the presence of aerodynamic coefficient uncertainties, and wind disturbances.

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Position tracking control of a helicopter in ground effect using nonlinear disturbance observer-based incremental backstepping approach

Cited by 20 publications

References 25 publications

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

Backstepping sliding-mode control of stratospheric airships using disturbance-observer

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

Adaptive sliding-mode-backstepping trajectory tracking control of underactuated airships

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