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  • 简介:Thispaperproposesanewasymptoticattitudetrackingcontrollerforanunderactuated3-degree-of-freedom(DOF)laboratoryhelicoptersystembyusinganonlinearrobustfeedbackandaneuralnetwork(NN)feedforwardterm.Thenonlinearrobustcontrollawisdevelopedthroughamodifiedinner-outerloopapproach.TheapplicationoftheNN-basedfeedforwardistocompensateforthesystemuncertainties.Theproposedcontroldesignstrategyrequiresverylimitedknowledgeofthesystemdynamicmodel,andachievesgoodrobustnesswithrespecttosystemparametricuncertainties.ALyapunov-basedstabilityanalysisshowsthattheproposedalgorithmscanensureasymptotictrackingofthehelicopter'selevationandtravelmotion,whilekeepingthestabilityoftheclosed-loopsystem.Real-timeexperimentresultsdemonstratethatthecontrollerhasachievedgoodtrackingperformance.

  • 标签: 3-DOF HELICOPTER NONLINEAR Robust control ASYMPTOTIC