Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

(整期优先)网络出版时间:2013-03-13
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Thispaperproposesanewasymptoticattitudetrackingcontrollerforanunderactuated3-degree-of-freedom(DOF)laboratoryhelicoptersystembyusinganonlinearrobustfeedbackandaneuralnetwork(NN)feedforwardterm.Thenonlinearrobustcontrollawisdevelopedthroughamodifiedinner-outerloopapproach.TheapplicationoftheNN-basedfeedforwardistocompensateforthesystemuncertainties.Theproposedcontroldesignstrategyrequiresverylimitedknowledgeofthesystemdynamicmodel,andachievesgoodrobustnesswithrespecttosystemparametricuncertainties.ALyapunov-basedstabilityanalysisshowsthattheproposedalgorithmscanensureasymptotictrackingofthehelicopter'selevationandtravelmotion,whilekeepingthestabilityoftheclosed-loopsystem.Real-timeexperimentresultsdemonstratethatthecontrollerhasachievedgoodtrackingperformance.