System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 1
190-197

Research on trajectory tracking control of unmanned helicopter on nonlinear block back-stepping method

Dang Songlin
Dai Jiyang
Ying Jin
Su Zhifeng
College of Information Engineering, Nanchang Hangkong University, Nanchang 330063, China
DOI: 10.19734/j.issn.1001-3695.2019.11.0610

Abstract

In view of the characteristics of the small-scale unmanned helicopter system which is highly nonlinear, strongly coupled and susceptible to internal and external disturbance, this paper proposed a control strategy combining nonlinear block back-stepping control with generalized proportional integral observer. In this method, at first, it used a generalized proportional integral observer to construct a multi-order observation loop and to estimate the system state variables, disturbances and the multi-order derivatives of disturbances, and then it added the estimated value of disturbance into the helicopter system model and adapted back-steeping method to obtain the tracking flight controller of the helicopter. Numerical simulation results of step signal and complex trajectory tracking show that, the designed controller has an ideal dynamic response performance, tracking capability and disturbance attenuation ability under the influence of various internal and external disturbances. Compared with the nonlinear disturbance observer, the generalized proportional integral observer has a higher estimation accuracy for high order and fast time-varying disturbances and achieves better disturbance suppression effects.

Foundation Support

国家自然科学基金资助项目(61663032)
江西省自然科学基金资助项目(20151BAB207043)
江西省教育厅自然科学基金资助项目(DA201404278)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.11.0610
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 1
Section: System Development & Application
Pages: 190-197
Serial Number: 1001-3695(2021)01-038-0190-08

Publish History

[2021-01-05] Printed Article

Cite This Article

党松琳, 代冀阳, 应进, 等. 基于非线性块反步控制的无人直升机航迹跟踪算法研究 [J]. 计算机应用研究, 2021, 38 (1): 190-197. (Dang Songlin, Dai Jiyang, Ying Jin, et al. Research on trajectory tracking control of unmanned helicopter on nonlinear block back-stepping method [J]. Application Research of Computers, 2021, 38 (1): 190-197. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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