An active wind gust rejection controller for an autonomous helicopter

Haoyu Zhang; Huang Jun; Zhijun Meng; Xu Wei

doi:10.1109/MIC.2013.6758067

An active wind gust rejection controller for an autonomous helicopter

Haoyu Zhang
, Huang Jun
, Zhijun Meng
, Xu Wei

School of Aeronautic Science and Engineering

Beihang University

Research output: Contribution to conference › Paper › peer-review

6 Scopus citations

Abstract

This paper proposes a novel wind gust rejection controller for a model helicopter with uncertain parameters. A hybrid of backstepping and active disturbance rejection controller is designed to achieve attitude tracking. The analysis and inclusion of the nature of wind gust disturbances and rotor dynamics yield more practical and reliable disturbance observation. The disturbances are eliminated to the best extent due to real time estimation and compensation, and the robustness against model uncertainties is guaranteed through proper state transformation. The simulation results validate the performance and robustness of proposed controller.

Original language	English
Pages	742-746
Number of pages	5
DOIs	https://doi.org/10.1109/MIC.2013.6758067
State	Published - 2013
Event	2013 2nd International Conference on Measurement, Information and Control, ICMIC 2013 - Harbin, China Duration: 16 Aug 2013 → 18 Aug 2013

Conference

Conference	2013 2nd International Conference on Measurement, Information and Control, ICMIC 2013
Country/Territory	China
City	Harbin
Period	16/08/13 → 18/08/13

Keywords

Active disturbance rejection control
Backstepping control
Robustness
Rotor dynamics
Wind gust disturbances

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10.1109/MIC.2013.6758067

Cite this

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abstract = "This paper proposes a novel wind gust rejection controller for a model helicopter with uncertain parameters. A hybrid of backstepping and active disturbance rejection controller is designed to achieve attitude tracking. The analysis and inclusion of the nature of wind gust disturbances and rotor dynamics yield more practical and reliable disturbance observation. The disturbances are eliminated to the best extent due to real time estimation and compensation, and the robustness against model uncertainties is guaranteed through proper state transformation. The simulation results validate the performance and robustness of proposed controller.",

keywords = "Active disturbance rejection control, Backstepping control, Robustness, Rotor dynamics, Wind gust disturbances",

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AU - Jun, Huang

AU - Meng, Zhijun

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AB - This paper proposes a novel wind gust rejection controller for a model helicopter with uncertain parameters. A hybrid of backstepping and active disturbance rejection controller is designed to achieve attitude tracking. The analysis and inclusion of the nature of wind gust disturbances and rotor dynamics yield more practical and reliable disturbance observation. The disturbances are eliminated to the best extent due to real time estimation and compensation, and the robustness against model uncertainties is guaranteed through proper state transformation. The simulation results validate the performance and robustness of proposed controller.

KW - Active disturbance rejection control

KW - Backstepping control

KW - Robustness

KW - Rotor dynamics

KW - Wind gust disturbances

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An active wind gust rejection controller for an autonomous helicopter

Abstract

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Keywords

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