Tracking Control for a Non-Minimum Phase Autonomous Helicopter

This paper develops a general control algorithm for precision output tracking of nonlinear non-minimum phase dynamics of an autonomous three degree-of-freedom unmanned helicopter. Previous approaches in ight control literature have shown approximate tracking by neglecting the coupling between the forces and moments generated by the control eectors. However, it is shown that this coupling is signicant in the model under study and cannot be neglected. In this paper the coupling is retained and natural time-scale decomposition of the vehicle model is employed for accomplishing asymptotic tracking. The design procedure determines the desired internal state trajectory and the control scheme to stabilize the helicopter in hover. Stability is analyzed using Lyapunov methods and results show that the approach is able to accomplish perfect tracking while stabilizing the closed-loop system and keeping all closed-loop signals bounded.

[1]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[2]  John Valasek,et al.  Global Tracking Control Structures for Nonlinear Singularly Perturbed Aircraft Systems , 2011 .

[3]  John Lygeros,et al.  Output tracking for a non-minimum phase dynamic CTOL aircraft model , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[4]  Giulio Avanzini,et al.  Two-Timescale Inverse Simulation of a Helicopter Model , 2001 .

[5]  A. Ollero,et al.  Control and stability analysis of an autonomous helicopter , 2004, Proceedings World Automation Congress, 2004..

[6]  Eric N. Johnson,et al.  Adaptive Trajectory Control for Autonomous Helicopters , 2005 .

[7]  John Valasek,et al.  Output Tracking of Non-Minimum Phase Dynamics , 2011 .

[8]  John Valasek,et al.  Tracking control design for non-standard nonlinear singularly perturbed systems , 2012, 2012 American Control Conference (ACC).

[9]  Raymond W. Prouty,et al.  Helicopter performance, stability, and control , 1986 .

[10]  Tarek Hamel,et al.  Hover control via Lyapunov control for an autonomous model helicopter , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[11]  R. Bellman,et al.  Proceedings of Symposia in Applied Mathematics. , 1961 .

[12]  In-Joong Ha,et al.  Autopilot design for highly maneuvering STT missiles via singular perturbation-like technique , 1999, IEEE Trans. Control. Syst. Technol..

[13]  Santosh Devasia,et al.  Output tracking with nonhyperbolic and near nonhyperbolic internal dynamics , 1997 .

[14]  Hassan K. Khalil,et al.  Singular perturbation methods in control : analysis and design , 1986 .

[15]  Emilio Frazzoli,et al.  Trajectory tracking control design for autonomous helicopters using a backstepping algorithm , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[16]  Hailong Pei,et al.  Trajectory tracking control of a small unmanned helicopter using MPC and backstepping , 2011, Proceedings of the 2011 American Control Conference.

[17]  L. Qiu,et al.  Performance Limitations of Non-Minimum Phase Systems * *This work has been supported by the Natural Sciences and Engineering Research Council of Canada under grant no. A4396. , 1990 .

[18]  Neil Fenichel.  Geometric singular perturbation theory for ordinary differential equations , 1979 .

[19]  Ching-Chih Tsai,et al.  Improved nonlinear trajectory tracking using RBFNN for a robotic helicopter , 2010 .

[20]  John Valasek,et al.  Kinetic State Tracking for a Class of Singularly Perturbed Systems , 2010 .

[21]  Gertjan Looye,et al.  Advances in Aerospace Guidance, Navigation and Control , 2013 .

[22]  I. C. Cheeseman.  Helicopter Performance, Stability and Control. R. W. Prouty. PWS Engineering, 20 Park Plaza, Boston, MA 02116, USA. 1986. Distributed by Routledge, Chapman & Hall Ltd., Andover. 731 pp. Illustrated. £43.95. , 1989 .

[23]  Edward J. Davison,et al.  Performance limitations of non-minimum phase systems in the servomechanism problem, , 1993, Autom..

[24]  S. Shankar Sastry,et al.  Nonlinear control design for slightly non-minimum phase systems: Application to V/STOL aircraft , 1992, Autom..