Robust trajectory tracking for a scale model autonomous helicopter
Article first published online: 28 JUN 2004
Copyright © 2004 John Wiley & Sons, Ltd.
International Journal of Robust and Nonlinear Control
Volume 14, Issue 12, pages 1035–1059, August 2004
How to Cite
Mahony, R. and Hamel, T. (2004), Robust trajectory tracking for a scale model autonomous helicopter. Int. J. Robust Nonlinear Control, 14: 1035–1059. doi: 10.1002/rnc.931
- Issue published online: 28 JUN 2004
- Article first published online: 28 JUN 2004
- Manuscript Accepted: 2 FEB 2004
- Manuscript Received: 24 DEC 2000
- autonomous helicopters;
- nonlinear system;
- Lyapunov control design;
- robustness analysis
This paper considers the question of obtaining an a priori bound on the tracking performance, for an arbitrary trajectory, of closed-loop control of an idealized model of a scale model autonomous helicopter. The problem is difficult due to the presence of small body forces that cannot be directly incorporated into the control design. A control Lyapunov function is derived for an approximate model (in which the small body forces are neglected) using backstepping techniques. The Lyapunov function derived is used to analyse the closed-loop performance of the full system. A theorem is proved that provides a priori bounds on initial error and the trajectory parameters (linear acceleration and its derivatives) that guarantees acceptable tracking performance of the system. The analysis is expected to be of use in verification of trajectory planning procedures. Copyright © 2004 John Wiley & Sons, Ltd.