Adaptive Backstepping Controller to Improve Handling Stability of Tractor-Airplane System on Deck
This paper presents an adaptive backstepping controller aimed at improving the handling properties of tractor-airplane system on deck. Considering the inertial force of tractor-airplane system produced by coupled roll-pitch-heave motion of ship, a 3-DOF tractor-airplane system model on deck was developed. A stability control algorithm using adaptive backstepping approach based on tuning function is designed to utilize the tractor rear wheel steering as control input. The steering controller keep the behavior of tractor-airplane system on deck tracks the ideal model on the ground and suppress the uncertainties of vehicle parameters. Computer simulations are presented to demonstrate the desired tracking performance of the proposed control approach.
Y. X. Wang, "Adaptive Backstepping Controller to Improve Handling Stability of Tractor-Airplane System on Deck", Applied Mechanics and Materials, Vol. 389, pp. 389-393, 2013