@inproceedings{9cc0c788f1ac43a78bd9c8a9d64f5205,
title = "Attitude tracking control of a 3-DOF helicopter with input and output constraints",
abstract = "A novel attitude tracking controller is proposed for the 3-DOF helicopter under input and output constraints. A barrier Lyapunov function is employed to address input constraint, and an auxiliary design system for output constraint. Combining the backstepping technique, a nonlinear disturbance observer is explored to tackle the unknown nonlinear functions. We proved that the presented method can control the system output errors converge to a neighbourhood of zero for any sufficient smooth and bounded time-varying trajectory, and simultaneously the input and output states remains in the prescribed set uniformly. Simulation results demonstrate the effectiveness of the proposed controller for the 3-DOF helicopter.",
keywords = "3-DOF Helicopter, Disturbance Observer, Input Constraint, Output Constraint",
author = "Zewei Zheng and Zongyu Zuo",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7555039",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "10608--10612",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}