A Developed Adaptive Tracking Control Technique for a Four-Rotor Helicopter with External Disturbance

Fei Fei Lu; Fu Yang Chen; Ling Cai

doi:10.4028/www.scientific.net/AMR.846-847.18

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 846-847A Developed Adaptive Tracking Control Technique...

A Developed Adaptive Tracking Control Technique for a Four-Rotor Helicopter with External Disturbance

Abstract:

This paper deals with the tracking control problem of attitude angles for a four-rotor helicopter with external disturbance. A new direct adaptive compensation controller and its parameter adaptive laws are designed based on the Lyapunov stability theory, and the designed contorller can not only compensate the disturbance efficiently, but also can make the attitude angles of the four-rotor helicopter track a given reference output. By using the Barbalat lemma, the systems state tracking performance is proofed. Finally, the proposed adaptive technique is evaluated by a simulation example.

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Periodical:

Advanced Materials Research (Volumes 846-847)

Pages:

18-21

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.846-847.18

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Cite this paper

Online since:

November 2013

Authors:

Fei Fei Lu, Fu Yang Chen*, Ling Cai

Keywords:

Adaptive Compensation, Disturbance, Four-Rotor Helicopter, Lyapunov Stability Theory

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* - Corresponding Author

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