Attitude Tracking Control of Small-Scale Unmanned Helicopters Using Quaternion-Based Adaptive Dynamic Surface Control

Xiaojun Duan,Huiying Liu,Chao Yue,Fan Zhang,Huijuan Guo

doi:10.1109/access.2020.3043363

Xiaojun Duan, Huiying Liu + Show 3 more

Open Access

https://doi.org/10.1109/access.2020.3043363

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Journal: IEEE Access	Publication Date: Dec 15, 2020
Citations: 9	License type: CC BY 4.0

Affiliation: Northwestern Polytechnical University

Abstract

In this paper, a quaternion-based adaptive dynamic surface control method is proposed for attitude tracking control for small-scale unmanned helicopters with external disturbance and uncertain dynamics. The quaternion formalism is introduced and a quaternion-based multi-input-multi-output nonlinear model is derived from the attitude dynamics of a small-scale helicopter. The low-complexity controllers are designed by the dynamic surface control method as it eliminates the problem of the explosion of items. The singularity problem is avoided by substituting Euler kinematic equations in the nonlinear model with quaternion expressions and integrating the quaternion expressions into the design process of the dynamic surface control. For improving the robustness of the control system, the radial basis function networks are applied to approximate the uncertain dynamics. The external disturbance is also compensated in the controllers’ design. This paper proves that the proposed method can guarantee the uniformly ultimate boundness of this attitude system. Simulation results are presented finally and show the effectiveness of this control approach.

Highlights

Unmanned aerial vehicles (UAVs) are developing very fast these years as they can carry out dangerous flight missions or scientific research without human intervention
Unmanned helicopter systems are intrinsically unstable without close loop control, and helicopter dynamics are highly nonlinear and strongly coupled and hard to analyze
We propose a quaternion-based adaptive dynamic surface control (DSC) (QBADSC) method for the attitude control of unmanned small-scale helicopters with model uncertainties and external disturbance

Summary

Introduction

Unmanned aerial vehicles (UAVs) are developing very fast these years as they can carry out dangerous flight missions or scientific research without human intervention. INDEX TERMS Unmanned helicopter, quaternion-based nonlinear attitude model, dynamic surface control, neural network. X. Duan et al.: Attitude Tracking Control of Small-Scale Unmanned Helicopters proposed by D.

Results

Conclusion