Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
Volume 70, Issue 11, Pages 4138-4142Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSII.2023.3267944
Keywords
Adaptive control; backstepping; prescribed-time; 2 DOF helicopter
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This paper addresses the prescribed-time attitude tracking issue for an uncertain nonlinear 2-DOF helicopter. A proposed prescribed-time control method based on adaptive backstepping is used to track the desired pitch and yaw positions separately. Simulations conducted on the Quanser 2-DOF helicopter system verify the effectiveness and control capabilities of the proposed method.
This brief addresses the prescribed-time attitude tracking issue for an uncertain nonlinear 2-Degree of Freedom (DOF) helicopter. Based on the Euler-Lagrange equations, a nonlinear model is developed for the 2-DOF helicopter, where the system parameters and control input constant coefficients are unknown. The proposed prescribed-time control is based on adaptive backstepping and utilized to track the desired pitch and yaw positions separately. Using the theory of Lyapunov stability, we show that the proposed prescribed-time control and adaptive law ensure the boundedness of all the closed-loop signals of the system for all future time. A noticeable advantage of the proposed method is that the upper bound of the settling time can be specified in advance. Finally, to verify the efficacy and control capabilities of the proposed scheme, simulations are conducted on the Quanser 2-DOF helicopter system.
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