Robust Adaptive Control Design for a Unmanned Helicopter at Hover and Position Tracking

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Ghalili, Jafar | 2018

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 51393 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Salarieh, Hassan; Alasty, Arya
Abstract:
This paper presents a robust adaptive backstepping control design for TREX-600 helicopter with flapping dynamics and dynamic uncertainties in the presence of Dryden wind gust. A nonlinear dynamic model is used to design the controller to let the helicopter track pre-defined time-varying waypoints and heading angles. In order to use the recursive design, the helicopter’s dynamic model is divided into three subsystems, such as altitude subsystem, yaw subsystem and horizontal subsystem. Adaptive backstepping method combines backstepping control and adaptation laws to deal with parameters uncertainties are designed for each sybsytem considering the coupling effects. The global asymptotic stability (GAS) of the closed-loop system is proved via the Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties and wind gust compared to H∞ control
Keywords:
Robust Control ; Adaptive Control ; Waypoint Tracking ; Nonlinear Control ; Unmanned Helicopter ; Lyapunov Stability ; Backstepping Algorithm

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