Abstract
There were some characteristics of 3-DOF helicopter: nonlinear, multi-variable, strong coupling and so on. So in order to realize the control of pitch angle loop, yaw and rotation angle loop, the algorithm of backstepping control was used. Firstly, dynamic models were established on the analysis for three channels of 3-DOF helicopter, and PD control was adopted for its pitch channel and yaw channel. And on rotation channel, PID control was adopted. Then a method with backstepping control was proposed to improve the tracking performance of pitch angle and yaw angle. Finally, through simulation and comparison with PD control, it was shown that backstepping control could improve the tracking speed of pitch angle, restrain the fluctuation of pitch angle and yaw angle, which makes height, yaw, and rotating channels of helicopter smoother.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.