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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	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
Number of pages	5
ISBN (Electronic)	9781728114545
DOIs	https://doi.org/10.1109/DDCLS.2019.8909003
State	Published - May 2019
Externally published	Yes
Event	8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019 - Dali, China Duration: 24 May 2019 → 27 May 2019

Publication series

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

Conference

Conference	8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019
Country/Territory	China
City	Dali
Period	24/05/19 → 27/05/19

Keywords

3-dof helicopter
Attitude tracking
Disturbance observer

Access to Document

10.1109/DDCLS.2019.8909003

Cite this

Liu, L., Wang, J., & Xiao, B. (2019). Attitude tracking control of 3-dof helicopter based on disturbance observer. In Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019 (pp. 610-614). Article 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. pp. 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. in 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., pp. 610-614, 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019, Dali, China, 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. p. 610-614 8909003 (Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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. In Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this