Position control of a small helicopter using robust backstepping

Tushar K. Roy

doi:10.1109/ICECE.2012.6471668

Position control of a small helicopter using robust backstepping

Tushar K. Roy^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

18 Citations (Scopus)

Abstract

In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.

Original language	English
Title of host publication	2012 7th International Conference on Electrical and Computer Engineering
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	787-790
Number of pages	4
ISBN (Electronic)	9781467314367, 9781467314343
ISBN (Print)	9781467314343
DOIs	https://doi.org/10.1109/ICECE.2012.6471668
Publication status	Published - 2012
Externally published	Yes
Event	2012 7th International Conference on Electrical and Computer Engineering, ICECE 2012 - Dhaka, Bangladesh Duration: 20 Dec 2012 → 22 Dec 2012

Conference

Conference	2012 7th International Conference on Electrical and Computer Engineering, ICECE 2012
Country/Territory	Bangladesh
City	Dhaka
Period	20/12/12 → 22/12/12

Keywords

external wind gusts
Lyapunov function
robust backstepping
UAH

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10.1109/ICECE.2012.6471668

Cite this

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title = "Position control of a small helicopter using robust backstepping",

abstract = "In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.",

keywords = "external wind gusts, Lyapunov function, robust backstepping, UAH",

author = "Roy, {Tushar K.}",

year = "2012",

doi = "10.1109/ICECE.2012.6471668",

language = "English",

isbn = "9781467314343",

pages = "787--790",

booktitle = "2012 7th International Conference on Electrical and Computer Engineering",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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note = "2012 7th International Conference on Electrical and Computer Engineering, ICECE 2012 ; Conference date: 20-12-2012 Through 22-12-2012",

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Roy, TK 2012, Position control of a small helicopter using robust backstepping. in 2012 7th International Conference on Electrical and Computer Engineering. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 787-790, 2012 7th International Conference on Electrical and Computer Engineering, ICECE 2012, Dhaka, Bangladesh, 20/12/12. https://doi.org/10.1109/ICECE.2012.6471668

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AU - Roy, Tushar K.

PY - 2012

Y1 - 2012

N2 - In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.

AB - In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.

KW - external wind gusts

KW - Lyapunov function

KW - robust backstepping

KW - UAH

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U2 - 10.1109/ICECE.2012.6471668

DO - 10.1109/ICECE.2012.6471668

M3 - Conference proceeding contribution

SN - 9781467314343

SP - 787

EP - 790

BT - 2012 7th International Conference on Electrical and Computer Engineering

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - 2012 7th International Conference on Electrical and Computer Engineering, ICECE 2012

Y2 - 20 December 2012 through 22 December 2012

ER -

Position control of a small helicopter using robust backstepping

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Keywords

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