Journals Information
Universal Journal of Control and Automation(CEASE PUBLICATION) Vol. 1(2), pp. 52 - 57
DOI: 10.13189/ujca.2013.010205
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Robust Adaptive Backstepping Controller for Altitude Control of a Small Scale Helicopter by Considering the Ground Effect Compensation
Tushar K. Roy*
Department of ETE, RUET, Bangladesh
ABSTRACT
In this paper, I focus on the design and implementation of a controller for a two degree-of-freedom system. A nonlinear robust adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near the ground surface in the presence of strong horizontal wind gusts. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the robust adaptive controller based on Lyapunov approach. Simulation results demonstrate that the proposed robust adaptive backstepping controller is capable of controlling the altitude for hovering flight of a small-scale helicopter near ground surface in the presence of strong horizontal wind gusts.
KEYWORDS
Robust Adaptive Backstepping Control, Ground Effect, Lyapunov Function, UAH
Cite This Paper in IEEE or APA Citation Styles
(a). IEEE Format:
[1] Tushar K. Roy , "Robust Adaptive Backstepping Controller for Altitude Control of a Small Scale Helicopter by Considering the Ground Effect Compensation," Universal Journal of Control and Automation(CEASE PUBLICATION), Vol. 1, No. 2, pp. 52 - 57, 2013. DOI: 10.13189/ujca.2013.010205.
(b). APA Format:
Tushar K. Roy (2013). Robust Adaptive Backstepping Controller for Altitude Control of a Small Scale Helicopter by Considering the Ground Effect Compensation. Universal Journal of Control and Automation(CEASE PUBLICATION), 1(2), 52 - 57. DOI: 10.13189/ujca.2013.010205.