Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey

Mengchao Sun; Wei Wang; Jiangshuai Huang

doi:10.1109/ICIEA.2019.8834289

Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey

Mengchao Sun
, Wei Wang
, Jiangshuai Huang

School of Automation Science and Electrical Engineering

Beihang University
Chongqing University

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

Abstract

In this paper, trajectory tracking control for autonomous helicopters, which are designed for aeromagnetic survey, is investigated. Since magnetometers towed to the helicopters receive better signals, we consider an unmanned autonomous helicopter with towed unknown slung load, which result in time-varying external disturbances exerting on both thrusts and control torques. Besides, inertial parameters in the helicopter model and external disturbances are also allowed to be unknown. An adaptive filtered backstepping control algorithm is presented. The effects of parameter uncertainties and external disturbances are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that the proposed control scheme can achieve the ultimate bounded tracking effectively.

Original language	English
Title of host publication	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	774-780
Number of pages	7
ISBN (Electronic)	9781538694909
DOIs	https://doi.org/10.1109/ICIEA.2019.8834289
State	Published - Jun 2019
Event	14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 - Xi'an, China Duration: 19 Jun 2019 → 21 Jun 2019

Publication series

Name	Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

Conference

Conference	14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
Country/Territory	China
City	Xi'an
Period	19/06/19 → 21/06/19

Access to Document

10.1109/ICIEA.2019.8834289

Cite this

Sun, M., Wang, W., & Huang, J. (2019). Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey. In Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 (pp. 774-780). Article 8834289 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2019.8834289

Sun, Mengchao ; Wang, Wei ; Huang, Jiangshuai. / Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey. Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 774-780 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019).

@inproceedings{15bed075fa1e4a2093a1eed025b6d5c8,

title = "Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey",

abstract = "In this paper, trajectory tracking control for autonomous helicopters, which are designed for aeromagnetic survey, is investigated. Since magnetometers towed to the helicopters receive better signals, we consider an unmanned autonomous helicopter with towed unknown slung load, which result in time-varying external disturbances exerting on both thrusts and control torques. Besides, inertial parameters in the helicopter model and external disturbances are also allowed to be unknown. An adaptive filtered backstepping control algorithm is presented. The effects of parameter uncertainties and external disturbances are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that the proposed control scheme can achieve the ultimate bounded tracking effectively.",

author = "Mengchao Sun and Wei Wang and Jiangshuai Huang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 ; Conference date: 19-06-2019 Through 21-06-2019",

year = "2019",

month = jun,

doi = "10.1109/ICIEA.2019.8834289",

language = "英语",

series = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "774--780",

booktitle = "Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019",

address = "美国",

}

Sun, M, Wang, W & Huang, J 2019, Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey. in Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019., 8834289, Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, Institute of Electrical and Electronics Engineers Inc., pp. 774-780, 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, Xi'an, China, 19/06/19. https://doi.org/10.1109/ICIEA.2019.8834289

Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey. / Sun, Mengchao; Wang, Wei; Huang, Jiangshuai.
Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 774-780 8834289 (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019).

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

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N2 - In this paper, trajectory tracking control for autonomous helicopters, which are designed for aeromagnetic survey, is investigated. Since magnetometers towed to the helicopters receive better signals, we consider an unmanned autonomous helicopter with towed unknown slung load, which result in time-varying external disturbances exerting on both thrusts and control torques. Besides, inertial parameters in the helicopter model and external disturbances are also allowed to be unknown. An adaptive filtered backstepping control algorithm is presented. The effects of parameter uncertainties and external disturbances are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that the proposed control scheme can achieve the ultimate bounded tracking effectively.

AB - In this paper, trajectory tracking control for autonomous helicopters, which are designed for aeromagnetic survey, is investigated. Since magnetometers towed to the helicopters receive better signals, we consider an unmanned autonomous helicopter with towed unknown slung load, which result in time-varying external disturbances exerting on both thrusts and control torques. Besides, inertial parameters in the helicopter model and external disturbances are also allowed to be unknown. An adaptive filtered backstepping control algorithm is presented. The effects of parameter uncertainties and external disturbances are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that the proposed control scheme can achieve the ultimate bounded tracking effectively.

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Sun M, Wang W, Huang J. Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey. In Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 774-780. 8834289. (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019). doi: 10.1109/ICIEA.2019.8834289

Adaptive trajectory tracking control of unmanned autonomous helicopters with parameter uncertainties and disturbances for geophysical survey

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