Open Access Open Access  Restricted Access Subscription Access

I&I Adaptive Control via Dynamic Surface Control Approach for a Four-Rotor Mini Helicopter

Keigo Fujimoto

Abstract


This paper presents a simple adaptive controller for a four rotor mini helicopter based on Immersion and Invariance (I&I) approach. The I&I adaptive control theory proposed by Astolfi et.al. has many superior features compared to other conventional certainty-equivalence (CE) adaptive approaches. However, for a class of nonlinear systems which can be described in strict feedback form, the I&I adaptive controller, as well as the back-stepping (BS) controller and the adaptive back-stepping controller, has the problem of “explosion of complexity” caused by the repeated differentiations of virtual controls. That is, the complexity of the controller grows drastically as the order of the system increases. To overcome this problem, a design method of I&I adaptive control via dynamic surface control (DSC) approach is proposed and applied for a path tracking problem of the four rotor mini helicopter in the planer motion. Numerical simulation illustrates the robustness of the proposed controller against uncertain aero-dynamical parameters.

Full Text:

PDF

References


Castillo, P., Dzul, A., and Lozano, R., “Real-time stabilization and tracking of a four-rotor mini Rotorcraft,” IEEE Transactions on Control System Technology, vol. 12, no. 4, pp. 510-516, 2004.

Tayebi, A., and McGilcary, S., ‘’Attitude stabilization of a VTOL quadrotor aircraft,’’ IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp. 562-571, 2006.

Nonami, K., Kendoul, F., Suzuki, S., Wang, W., and Nakazawa, D., Autonomous Flying Robots-Unmanned Aerial Vehicles and Micro Aeria, Japan: Springer 2010.

Swaroop, D., Hedrick, J. K., Yip, P. P. and Gerdes, J. C., “Dynamic surface control for a class of nonlinear systems,” IEEE Transactions on Automatic Control, vol. 45, no.10, pp. 1893-1899, 2000.

Astolfi, A., and Ortega, R., “Immersion and Invariance a new tool for Stabilization and adaptive control of nonlinear systems,” IEEE Transactions on Automatic Control, vol. 48, no.4, pp. 590-606, 2003.

Fujimoto, K., Yokoyama, M., Tanabe, Y., “I&I-based adaptive control of a four-rotor mini helicopter with uncertain aerodynamic parameters,” Trans. of the Japan Society of Mechanical Engineers, Series C, to appear.

Fujimoto, K., Yokoyama, M., Tanabe, Y., “A design method of I&I adaptive controller via Dynamic surface control approach,” Joint Conference of Automatic Control in Japan, 2011, to appear.




DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.314

Refbacks

  • There are currently no refbacks.