Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization
Chapter, Peer reviewed
Accepted version
Permanent lenke
https://hdl.handle.net/11250/3069017Utgivelsesdato
2021Metadata
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Originalversjon
Schlanbusch, S. M. & Zhou, J. (2021). Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization. In Proceedings of the 9th International Conference on Control, Mechatronics and Automation (pp. 110–115). https://doi.org/10.1109/ICCMA54375.2021.9646184Sammendrag
This paper studies the attitude tracking control for an uncertain 2-degrees of freedom helicopter system where the inputs and the states are quantized. An adaptive backstepping based control scheme is proposed to handle the effect of quantization for tracking of reference angles for pitch and yaw. All closed-loop signals are ensured uniformly bounded and the tracking errors will converge to a compact set containing the origin. Experiments on the helicopter system illustrate the proposed control scheme.