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Published in:
2012 | OriginalPaper | Chapter
Trajectory Tracking Controller of Small-Scale Helicopter Based on Backstepping
Authors : Shuai Tang, ZhiQiang Zheng, JianBin Ye, Qi Wang
Published in: System Simulation and Scientific Computing
Publisher: Springer Berlin Heidelberg
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This paper presents a backstepping control design procedure for a small-scale helicopter. The objective is to control the small-scale helicopter to realize the autonomous tracking of the predefined trajectory which consists of the position and the yaw angle. The controller is derived based on Lyapunov stability theory. An approximate helicopter model is adopted and the flapping dynamic of the main rotor is considered. The main idea is to decouple the translational dynamics and the rotational dynamics through solving an equation when the desired yaw angle is predefined. Simulation results show that the performance of the proposed controller is acceptable.