Trajectory Tracking Control of a Miniature Autonomous Helicopter with Input and Output Constraints

被引：0

作者：

Zhong, Zhen ^{[1
]}

Ge, Shuzhi Sam ^{[2
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM) | 2017年

关键词：

Miniature autonomous helicopter; Active trajectory tracking control; Input saturation; Auxiliary system; Output constraint; SYSTEMS; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose an active control strategy for a miniature autonomous helicopter (MAH) with nonlinear input saturation in this paper. In order to deal with the effect of the input saturation, we design an auxiliary system and bring it into the active control design for the desired trajectory tracking based on a simplified MAH model. With the designed control, the stability of the closed- loop system is proven and obtained via Lyapunov's direct method and the effectiveness of the proposed control method is illustrated by the control performances in the numerical simulation.

引用

页码：387 / 392

页数：6

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