期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/50864
语种：English
出版社：SAGE Publications
摘要：Unmanned aerial vehicles have enormous potential applications in military and civil fields. A Quanser’s 3-DOF helicopter is a simplified and benchmark experimental model for validating the effectiveness of various flight control algorithms. The attitude control of the 3-DOF helicopter is a challenging task since the helicopter is an under-actuated system with strong coupling and model uncertainty characteristics. In this paper, an adaptive integral backstepping algorithm is proposed to realize robust control of the 3-DOF helicopter. The proposed control algorithm can estimate model uncertainties online and improve the robustness of the control system. Simulation and experiment results demonstrate that the proposed algorithm performs well in tracking and under model uncertainties.
关键词：Adaptive control; Backstepping algorithm; Integral action; 3-DOF helicopter; Model uncertainties
