Journal
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
Volume 6, Issue 3, Pages 807-815Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2019.1911495
Keywords
2-degree of freedom (DOF) helicopter; adaptive control; input deadzone; integral barrier Lyapunov function; neural networks; output constraints
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Funding
- National Natural Science Foundation of China [61803085, 61806052, U1713209]
- Natural Science Foundation of Jiangsu Province of China [BK20180361]
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In this paper, a study of control for an uncertain 2-degree of freedom (DOF) helicopter system is given. The 2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function (IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.
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