Adaptive trajectory tracking control for a small-scale unmanned helicopter based on nonlinear dynamic inversion

In this paper, a nonlinear adaptive control is proposed to address the trajectory tracking problem of a small-scale unmanned helicopter which is subject to model uncertainties and external disturbances. An adaptive backstepping (AB) controller is developed for the attitude model and a radial basis function neural network (RBFNN) is proposed to compensate the model uncertainties and external disturbances. In addition, a novel learning algorithm is used in the RBFNN which has the least adaptive parameters need to be adjusted. Moreover, the position controller is designed using the nonlinear dynamic inversion (NDI) technique to facilitate the implementation of the whole control system. At last, the effectiveness and the robustness of the proposed strategy are exhibited through simulation compared with the traditional PID control.

[1]  Bing Zhu,et al.  Approximate analysis for main rotor flapping dynamics of a model-scaled helicopter with Bell–Hiller stabilizing bar in hovering and vertical flights , 2016 .

[2]  Jonghyuk Kim,et al.  Robust optimal attitude control of hexarotor robotic vehicles , 2013 .

[3]  Sarangapani Jagannathan,et al.  Neural Network-Based Optimal Adaptive Output Feedback Control of a Helicopter UAV , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[4]  Tong Heng Lee,et al.  Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter , 2011 .

[5]  Tong Heng Lee,et al.  Comprehensive Nonlinear Modeling of an Unmanned-Aerial-Vehicle Helicopter , 2008 .

[6]  Rong Su,et al.  Self-repairing control of a helicopter with input time delay via adaptive global sliding mode control and quantum logic , 2015, Inf. Sci..

[7]  M. A. Mnich,et al.  Minimum-complexity helicopter simulation math model , 1988 .

[8]  Alan F. Lynch,et al.  Experimental Validation of a Helicopter Autopilot Design using Model-Based PID Control , 2013, J. Intell. Robotic Syst..

[9]  Xing Fang,et al.  A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance , 2016 .

[10]  Ching-Chih Tsai,et al.  Nonlinear adaptive aggressive control using recurrent neural networks for a small scale helicopter , 2010 .

[11]  Frank L. Lewis,et al.  Structured H-Infinity Command and Control-Loop Design for Unmanned Helicopters , 2008 .

[12]  Aaron M. Dollar,et al.  Stability of Helicopters in Compliant Contact Under PD-PID Control , 2014, IEEE Transactions on Robotics.

[13]  Sarangapani Jagannathan,et al.  Output Feedback Control of a Quadrotor UAV Using Neural Networks , 2010, IEEE Transactions on Neural Networks.