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Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment

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Abstract

In this paper, we consider the control problem of tracking a 3D spatial trajectory for a fully actuated helicopter in static known environment, which is predefined to avoid obstacles and collisions considering the distance, fuel consumption and other related constraints. For this purpose, a nonlinear controller using the radial basis function neural network (RBFNN) is designed. Based on Lyapunov analysis, the proposed adaptive neural network control succeeds in tracking the desired trajectory robustly to a small neighborhood of zero, and guarantees the boundedness of all the closed-loop signals at the same time. Extensive numerical results are given to illustrate the effectiveness of the designed controller.

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Authors and Affiliations

  1. College of Electronic Information and Automation, Civil Aviation University of China, Tianjin, 300300, China

    Zhen Zhao

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Wei He

  3. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Zhao Yin

  4. College of Aerospace Engineering, Civil Aviation University of China, Tianjin, 300300, China

    Jun Zhang

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  1. Zhen Zhao
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  2. Wei He
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  3. Zhao Yin
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  4. Jun Zhang
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Correspondence to Wei He.

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Zhao, Z., He, W., Yin, Z. et al. Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment. J Intell Robot Syst 85, 127–144 (2017). https://doi.org/10.1007/s10846-016-0378-4

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  • DOI: https://doi.org/10.1007/s10846-016-0378-4

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