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https://hdl.handle.net/2440/81486
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Type: | Journal article |
Title: | Global robust tracking control of non-affine nonlinear systems with application to yaw control of uav helicopter |
Author: | Xu, D. Jiang, B. Shi, P. |
Citation: | International Journal of Control, Automation and Systems, 2013; 11(5):957-965 |
Publisher: | Springer |
Issue Date: | 2013 |
ISSN: | 1598-6446 2005-4092 |
Statement of Responsibility: | De-Zhi Xu, Bin Jiang, and Peng Shi |
Abstract: | In this paper, a novel robust nonlinear tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle helicopter that is non-affine in the control input. By a novel dynamic modeling technique, the non-affine nonlinear systems are approximated to facilitate the desired control design. In the controller design procedure, the terminal sliding model control method is introduced to deal with the unknown uncertainties/disturbances. Moreover, filter and disturbance estimator are combined to further reduce the chattering. A systematic procedure is developed and related theoretical and practical issues are discussed. The proposed nonlinear tracking control scheme can guarantee the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances. Finally, the simulation results on the dynamic model of a real helicopter-on-arm are provided to demonstrate the effectiveness of the proposed new control techniques. |
Keywords: | Non-affine nonlinear systems nonlinear control sliding mode control unmanned-aerialvehicle helicopter yaw control |
Rights: | © ICROS, KIEE and Springer 2013 |
DOI: | 10.1007/s12555-012-0335-3 |
Published version: | http://dx.doi.org/10.1007/s12555-012-0335-3 |
Appears in Collections: | Aurora harvest 4 Electrical and Electronic Engineering publications |
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