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Trajectory tracking control of a small unmanned helicopter using MPC and backstepping | IEEE Conference Publication | IEEE Xplore

Trajectory tracking control of a small unmanned helicopter using MPC and backstepping


Abstract:

A hierarchical inner-outer loop-based controller is proposed to solve the trajectory tracking problem of a small unmanned helicopter. The outer loop employs model predict...Show More

Abstract:

A hierarchical inner-outer loop-based controller is proposed to solve the trajectory tracking problem of a small unmanned helicopter. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of backstepping techniques that allow the stabilization of the attitude. The obtained control method takes advantage of both controllers and it is simple and easy to implement and tune in future real flight test. Finally, the computer simulations are conducted to illustrate the tracking performance of the proposed control method.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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