Abstract
This article presents a robust control scheme for the trajectory tracking problem of a three-degree-of-freedom helicopter with prescribed transient and steady-state performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.
Highlights
U NMANNED aerial vehicles (UAVs) have drawn considerable attention by researchers during the past few decades owing to their numerous applications, e.g., patrolling, transportation, exploration, search and rescue missions, etc
We develop a modified prescribed performance control (PPC) protocol, which traditionally deals with model uncertainties as well as transient and steady-state constraints [24], to deal with the trajectory tracking control problem for uncertain three-DOF helicopters
This section is devoted to the validation of the proposed scheme via a comparative simulation study1 with a recent work [32], which proposes a fault-tolerant scheme based on continuous twisting algorithms (CTA)
Summary
U NMANNED aerial vehicles (UAVs) have drawn considerable attention by researchers during the past few decades owing to their numerous applications, e.g., patrolling, transportation, exploration, search and rescue missions, etc. A significant property that lacks from the related literature on threeDOF helicopter control is tracking/stabilization with predefined transient and steady-state specifications, such as overshoot, convergence speed, or steady-state error Such specifications can encode time and safety constraints, which are crucial when it comes to physical autonomous systems and especially UAVs. In this article, we develop a modified prescribed performance control (PPC) protocol, which traditionally deals with model uncertainties as well as transient and steady-state constraints [24], to deal with the trajectory tracking control problem for uncertain three-DOF helicopters. The main contributions of this work are as follows: 1) The proposed control protocol does not employ any information on the parameters of the nonlinear dynamic model of the three-DOF helicopter, which renders it significantly robust against model uncertainties and external disturbances.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: 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.
