Rotary wing UAV position control using backstepping

This paper presents a novel position control method for rotary wing UAVs using the backstepping approach. The algorithm, motivated by backstepping control for general rigid body dynamics, is extended for underactuated UAV including the flybar and flapping dynamics when stability derivatives are not available. Further work is needed to include servo dynamics and to make the algorithm robust to model uncertainty to make it suitable for practical implementation.

[1]  G. D. Padfield,et al.  Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modelling , 1995 .

[2]  Matthew Garratt,et al.  Platform Enhancements and System Identification for Control of an Unmanned Helicopter , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[3]  O. Harkegard,et al.  Backstepping control of a rigid body , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[4]  Mario G. Perhinschi,et al.  A Simulation Model of An Autonomous Helicopter , 1998 .

[5]  Robert C. Nelson,et al.  Flight Stability and Automatic Control , 1989 .

[6]  S. Sastry,et al.  Output tracking control design of a helicopter model based on approximate linearization , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[7]  Mario Innocenti,et al.  Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling , 1999 .

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

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

[10]  John Hunt,et al.  State-Dependent Riccati Equation Control of a Small Unmanned Helicopter , 2003 .

[11]  Kaustubh Pathak,et al.  Approaches for a tether-guided landing of an autonomous helicopter , 2006, IEEE Transactions on Robotics.

[12]  Rogelio Lozano,et al.  Non-linear Control for Underactuated Mechanical Systems , 2001 .

[13]  Bernard Mettler,et al.  System identification modeling of a small-scale unmanned rotorcraft for flight control design , 2002 .

[14]  R. Mahony,et al.  Robust trajectory tracking for a scale model autonomous helicopter , 2004 .

[15]  Bernard Mettler,et al.  Nonlinear model for a small-size acrobatic helicopter , 2001 .

[16]  H.R. Pota,et al.  Velocity Control of a UAV using Backstepping Control , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.