@inproceedings{2dda1090c4db4ce5af8ce7ebeeae0262,
title = "Unmanned helicopter trajectory tracking control based on L1 adaptive and backstepping method",
abstract = "In this paper, a dual loop trajectory tracking control strategy based on L1 adaptive and backstepping method is proposed for unmanned helicopter. The controller is designed to deal with the external disturbances and inaccurate measurement of inertial parameters in actual flight. Firstly, a simplified model of unmanned helicopter is established. Secondly, the backstepping method is adopted to control the trajectory in position outer loop. Thirdly, the L1 adaptive control method is introduced to estimate and compensate the external disturbances and inaccurate measurement of inertial parameters in attitude inner loop. Finally, the numerical simulation of line and spiral trajectory is carried out to illustrate the correctness and effectiveness of the proposed control strategy.",
keywords = "L1 adaptive control, backstepping control, trajectory tracking, uncertainty, unmanned helicopter",
author = "Jiangan Zheng and Ying Guo and Yaoming Zhou and Zhijun Meng",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 30th Chinese Control and Decision Conference, CCDC 2018 ; Conference date: 09-06-2018 Through 11-06-2018",
year = "2018",
month = jul,
day = "6",
doi = "10.1109/CCDC.2018.8407627",
language = "英语",
series = "Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2940--2946",
booktitle = "Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018",
address = "美国",
}