Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control
This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, t...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/8447125 |
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| _version_ | 1850220755078348800 |
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| author | Yoo-Seung Choi Il-Ryeong Lee Jun-Young An Moon-Gyeang Cho Chang-Joo Kim |
| author_facet | Yoo-Seung Choi Il-Ryeong Lee Jun-Young An Moon-Gyeang Cho Chang-Joo Kim |
| author_sort | Yoo-Seung Choi |
| collection | DOAJ |
| description | This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy. |
| format | Article |
| id | doaj-art-74fbb29564604bf7bfc95db4567f5f77 |
| institution | OA Journals |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-74fbb29564604bf7bfc95db4567f5f772025-08-20T02:06:57ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/8447125Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping ControlYoo-Seung Choi0Il-Ryeong Lee1Jun-Young An2Moon-Gyeang Cho3Chang-Joo Kim4Department of Aerospace and Information EngineeringDepartment of Aerospace and Information EngineeringDepartment of Aerospace and Information EngineeringDepartment of Aerospace and Information EngineeringDepartment of Aerospace and Information EngineeringThis paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy.http://dx.doi.org/10.1155/2022/8447125 |
| spellingShingle | Yoo-Seung Choi Il-Ryeong Lee Jun-Young An Moon-Gyeang Cho Chang-Joo Kim Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control International Journal of Aerospace Engineering |
| title | Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control |
| title_full | Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control |
| title_fullStr | Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control |
| title_full_unstemmed | Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control |
| title_short | Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control |
| title_sort | robust trajectory tracking control of a rotorcraft using immersion and invariance based adaptive backstepping control |
| url | http://dx.doi.org/10.1155/2022/8447125 |
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