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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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Abstract

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-offreedom (DOF) laboratory helicopter system by using a nonlinear robust feedback and a neural network (NN) feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter’s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

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Authors and Affiliations

  1. Institute of Robotics and Autonomous System, Tianjin Key Laboratory of Process Measurement and Control, and School of Electrical Engineering and Automation, Tianjin University, Tianjin, 300072, China

    Xiang Liu, Bin Xian, Jianchuan Guo, Bo Zhao & Chen Diao

Authors
  1. Xiang Liu
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  2. Bin Xian
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  3. Jianchuan Guo
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  4. Bo Zhao
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  5. Chen Diao
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Corresponding author

Correspondence to Bin Xian.

Additional information

This work was supported by the National Natural Science Foundation of China (Nos. 90916004, 60804004) and the Program for New Century Excellent Talents in University (No. NCET-09-0590).

Xiang LIU received his B.S. degree from Nankai University in 2011. He is currently a Ph.D. candidate at Tianjin University. His current research interest is nonlinear control of unmanned aerial vehicles (UAVs).

Bin XIAN is a professor at the Department of Automation Engineering, Tianjin University, and a senior member of IEEE. His main research interests include nonlinear control, unmanned aerial vehicles, and robotics.

Jianchuan GUO received his B.S. and M.S. degrees from Tianjin University of Science and Technology in 2003 and 2008, respectively. He is currently a Ph.D. candidate at the Department of Automation Engineering, Tianjin University. His research interests include modeling and nonlinear control of helicopter, and embedded control system.

Bo ZHAO received his B.S. degree in Engineering from Tianjin University in 2010. He is currently a Ph.D. candidate at Tianjin University. His research interests include nonlinear control system and UAVs.

Chen DIAO received his B.S. degree from Hebei University of Technology in 2007. He is currently a Ph.D. candidate at Tianjin University. His research interests include nonlinear control and adaptive control.

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Liu, X., Xian, B., Guo, J. et al. Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term. J. Control Theory Appl. 11, 428–435 (2013). https://doi.org/10.1007/s11768-013-2160-5

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  • DOI: https://doi.org/10.1007/s11768-013-2160-5

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