Attitude tracking control of 3-dof helicopter based on disturbance observer

Liang Liu; Jing Wang; Bing Xiao

doi:10.1109/DDCLS.2019.8909003

Attitude tracking control of 3-dof helicopter based on disturbance observer

Liang Liu, Jing Wang, Bing Xiao

Bohai University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

Based on the disturbance observer design approach, this paper deals with the attitude tracking control problem for a 3-DOF helicopter with uncertainty and external disturbance. Firstly, the disturbance observers are used to estimate the uncertainty and the external disturbance of the 3-DOF helicopter. Then, with the aid of the estimations and backstepping design method, the new nonlinear tracking controllers with disturbance compensations are proposed. And, it is verified that the resulting closed-loop 3-DOF helicopter system is asymptotically stable by employing Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed design approach.

源语言	英语
主期刊名	Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019
出版商	Institute of Electrical and Electronics Engineers Inc.
页	610-614
页数	5
ISBN（电子版）	9781728114545
DOI	https://doi.org/10.1109/DDCLS.2019.8909003
出版状态	已出版 - 5月 2019
已对外发布	是
活动	8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019 - Dali, 中国期限: 24 5月 2019 → 27 5月 2019

出版系列

姓名	Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019

会议

会议	8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019
国家/地区	中国
市	Dali
时期	24/05/19 → 27/05/19

访问文件

10.1109/DDCLS.2019.8909003

其它文件与链接

链接到 Scopus 的出版物

引用此

Liu, L., Wang, J., & Xiao, B. (2019). Attitude tracking control of 3-dof helicopter based on disturbance observer. 在 Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019 (页码 610-614). 文章 8909003 (Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DDCLS.2019.8909003

Liu, Liang ; Wang, Jing ; Xiao, Bing. / Attitude tracking control of 3-dof helicopter based on disturbance observer. Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 610-614 (Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019).

@inproceedings{7dfa355f25be4e7592319be2e0a19381,

title = "Attitude tracking control of 3-dof helicopter based on disturbance observer",

abstract = "Based on the disturbance observer design approach, this paper deals with the attitude tracking control problem for a 3-DOF helicopter with uncertainty and external disturbance. Firstly, the disturbance observers are used to estimate the uncertainty and the external disturbance of the 3-DOF helicopter. Then, with the aid of the estimations and backstepping design method, the new nonlinear tracking controllers with disturbance compensations are proposed. And, it is verified that the resulting closed-loop 3-DOF helicopter system is asymptotically stable by employing Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed design approach.",

keywords = "3-dof helicopter, Attitude tracking, Disturbance observer",

author = "Liang Liu and Jing Wang and Bing Xiao",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019 ; Conference date: 24-05-2019 Through 27-05-2019",

year = "2019",

month = may,

doi = "10.1109/DDCLS.2019.8909003",

language = "英语",

series = "Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "610--614",

booktitle = "Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019",

}

Liu, L, Wang, J & Xiao, B 2019, Attitude tracking control of 3-dof helicopter based on disturbance observer. 在 Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019., 8909003, Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019, Institute of Electrical and Electronics Engineers Inc., 页码 610-614, 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019, Dali, 中国, 24/05/19. https://doi.org/10.1109/DDCLS.2019.8909003

Attitude tracking control of 3-dof helicopter based on disturbance observer. / Liu, Liang; Wang, Jing; Xiao, Bing.
Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 610-614 8909003 (Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Attitude tracking control of 3-dof helicopter based on disturbance observer

AU - Liu, Liang

AU - Wang, Jing

AU - Xiao, Bing

PY - 2019/5

Y1 - 2019/5

N2 - Based on the disturbance observer design approach, this paper deals with the attitude tracking control problem for a 3-DOF helicopter with uncertainty and external disturbance. Firstly, the disturbance observers are used to estimate the uncertainty and the external disturbance of the 3-DOF helicopter. Then, with the aid of the estimations and backstepping design method, the new nonlinear tracking controllers with disturbance compensations are proposed. And, it is verified that the resulting closed-loop 3-DOF helicopter system is asymptotically stable by employing Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed design approach.

AB - Based on the disturbance observer design approach, this paper deals with the attitude tracking control problem for a 3-DOF helicopter with uncertainty and external disturbance. Firstly, the disturbance observers are used to estimate the uncertainty and the external disturbance of the 3-DOF helicopter. Then, with the aid of the estimations and backstepping design method, the new nonlinear tracking controllers with disturbance compensations are proposed. And, it is verified that the resulting closed-loop 3-DOF helicopter system is asymptotically stable by employing Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed design approach.

KW - 3-dof helicopter

KW - Attitude tracking

KW - Disturbance observer

UR - http://www.scopus.com/inward/record.url?scp=85076413195&partnerID=8YFLogxK

U2 - 10.1109/DDCLS.2019.8909003

DO - 10.1109/DDCLS.2019.8909003

M3 - 会议稿件

AN - SCOPUS:85076413195

T3 - Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019

SP - 610

EP - 614

BT - Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019

Y2 - 24 May 2019 through 27 May 2019

ER -

Liu L, Wang J, Xiao B. Attitude tracking control of 3-dof helicopter based on disturbance observer. 在 Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 页码 610-614. 8909003. (Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019). doi: 10.1109/DDCLS.2019.8909003

Attitude tracking control of 3-dof helicopter based on disturbance observer

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