Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method

Tushar Kanti Roy

doi:doi:10.11648/j.acis.20150306.12

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Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method

Tushar Kanti Roy

Published in Automation, Control and Intelligent Systems (Volume 3, Issue 6)

Received: 22 November 2015 Accepted: 1 December 2015 Published: 21 December 2015

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Abstract

In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.

Published in	Automation, Control and Intelligent Systems (Volume 3, Issue 6)
DOI	10.11648/j.acis.20150306.12
Page(s)	104-111
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Adaptive Robust Backstepping Controller, Control Lyapunov Function, External Disturbance, Rotary Wing Autonomous Vehicle, Parametric Uncertainty

References

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[2]	L. Guo, C. Melhuish, and Q. Zhu, “Towards neural adaptive hovering control of helicopters,” in Proc. IEEE Int. Conf. Control Applications, Glasgow, U.K., Sep. 2002, pp. 54-58.
[3]	T. K. Roy, “Position control of a small helicopter using robust backstepping,” in Proceedings of the IEEE 7th International Conference on Electrical and Computer Engineering, pp. 787-790, 20-22 December 2012.
[4]	T. K. Roy and A. A. Suman, “Adaptive backstepping controller for altitude control of a small-scale helicopter by considering the ground effect compensation,” in Proc. of the IEEE2nd International Conference on Informatics, Electronics and Vision (ICIEV), pp. 1-5, 2013, Bangladesh.
[5]	H. Shim, T. J. Koo, and F. Hoffmann, “A comprehensive study of control design for an autonomous helicopter,” in Proceedings of the 37^th International Conf. on Decision and Control, pp. 3653-3658, 1998.
[6]	X. H. Xia, and Y. J. Ge, “Finite-horizon optimal linear control for autonomous soft landing of small-scale helicopter,” In Proceedings of the International Conf. on Information and Automation, pp. 1160-1164, 2010.
[7]	T. K. Roy, and M. Garrat, “Altitude control of an unmanned autonomous helicopter via robust backstepping controller under horizontal wind gusts,” in Proceedings of the IEEE 7th International Conf. on Electrical and Computer Engineering, pp. 771-774, 20-22 December 2012.
[8]	T. K. Roy, M. Garrat, H. R. Pota, and H. Teimoori, “Robust altitude control of an unmanned autonomous helicopter using backstepping,” in Proceedings of the 10th WCICA, pp. 1650-1654, 6-8 July 2012.
[9]	T. K. Roy and H. M. Rasel, “Altitude control of an unmanned autonomous helicopter via adaptive backstepping controller under horizontal wind gusts,” IJCEE, vol. 5, no. 1, pp. 1-7, 2013.
[10]	T. K. Roy and A. A. Suman, “Adaptive backstepping controller for altitude control of a small-scale helicopter by considering the ground effect compensation,” in Proc. of the IEEE2nd International Conference on Informatics, Electronics and Vision (ICIEV), May 2013, pp. 1-5, Bangladesh.
[11]	T. K. Roy, M. A. Mahmud, M. Z. I. Sarkar, and M. F. Pervej, “Robust backstepping controller for yaw dynamics control of an unmanned autonomous helicopter,” in Proc. of the International Forum on Strategic Technology (IFOST), 2014.
[12]	D. J. Wallcer, M.C. Turner, AJ. Smerlas, ME. Strange, and A.W. Gubbels, “Robust control of the longitudinal and lateral dynamics of the BELL 205 helicopter,” Proceedings of the American Control Conference, June 1999.
[13]	K. A. Danapalasingam, J.–J. Leth, A. la C.-Harbo and M. Bisgaard “Robust helicopter stabilization in the face of wind disturbance” 49th IEEE Conference on Decision and Control, December 15-17, 2010.
[14]	T. Cheviron, F. Plestan, and A. Chriette, “A robust guidance and control scheme of an autonomous scale helicopter in presence of wind gusts,” International Journal of Control, Vol. 82, No. 12, December 2009.
[15]	T. K. Roy, M. Garrat, H. R. Pota and H. Teimoori, “Robust control for longitudinal and lateral dynamics of small scale helicopter, in Proceedings of the 31^st CCC, 25-27 July, 2012.
[16]	S. Suresh, P. Kashyab and M. Nabi, “Automatic take-off control system for helicopter an H∞ apporach,” 11th Conf. Control, Automation, Robotics and Vision, 7-10 December, 2010.
[17]	A. Isidori, L. Marconi and A. Serrani, “Robust nonlinear motion control of a helicopter,” IEEE Transactions on Automatic Control, Vol. 48, No. 3 March 2003.
[18]	L. Guo, C. Melhuish, and Q. Zhu, “Towards neural adaptive hovering control of helicopters,” in Proc. IEEE Int. Conf. Control Applications, Glasgow, U.K., Sep. 2002, pp. 54-58.
[19]	D. McLean. Automatic Flight Control Systems. Prentice Hall, 1990.
[20]	T. K. Roy, “Robust adaptive control for longitudinal and lateral dynamics of a small scale helicopter,” IJCCNet, vol. 1, no. 3, pp. 22 – 34, 2012.
[21]	T. K. Roy, “Robust backstepping control for small helicopter” Master thesis, November 2012, The University of New South Wales, Australia.
[22]	M. Tischler and R. Remple, “Aircraft and rotorcraft system identification: engineering methods with flight-test examples,” in AIAA, 2006.
[23]	T. K. Roy, “Horizontal position control of a small scale helicopter using adaptive backstepping controller,” IJCCNet, vol. 2, no. 2, pp. 1 – 14, May 2013.
[24]	T. K. Roy, M. Garrat, H. R. Potat and H. Teimoori, “Robust Backstepping Control for Longitudinal and Lateral Dynamics of Small Scale Helicopter,” Journal of University of Science and Technology of China, Vol. 42, No. 7, Jul. 2012.
[25]	T. K. Roy, “Longitudinal and lateral dynamics control of a small scale helicopter using adaptive backstepping controller under horizontal wind gusts,” Asian Transaction Engineering, vol. 3, no. 1, March 2013.
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[28]	I. A. Raptis and K. P. Valavanis, “Velocity and heading tracking control for small-scale unmanned helicopters,” in Proceedings of American Control Conference, 2011.

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APA Style

Tushar Kanti Roy. (2015). Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Automation, Control and Intelligent Systems, 3(6), 104-111. https://doi.org/10.11648/j.acis.20150306.12

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ACS Style

Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom. Control Intell. Syst. 2015, 3(6), 104-111. doi: 10.11648/j.acis.20150306.12

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AMA Style

Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom Control Intell Syst. 2015;3(6):104-111. doi: 10.11648/j.acis.20150306.12

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@article{10.11648/j.acis.20150306.12,
  author = {Tushar Kanti Roy},
  title = {Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method},
  journal = {Automation, Control and Intelligent Systems},
  volume = {3},
  number = {6},
  pages = {104-111},
  doi = {10.11648/j.acis.20150306.12},
  url = {https://doi.org/10.11648/j.acis.20150306.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20150306.12},
  abstract = {In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.},
 year = {2015}
}

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TY  - JOUR
T1  - Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method
AU  - Tushar Kanti Roy
Y1  - 2015/12/21
PY  - 2015
N1  - https://doi.org/10.11648/j.acis.20150306.12
DO  - 10.11648/j.acis.20150306.12
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 104
EP  - 111
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20150306.12
AB  - In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.
VL  - 3
IS  - 6
ER  -

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Author Information

Tushar Kanti Roy

Department of Electronics & Telecommunication Engineering, Rajshahi University of Engineering & Technology, Rajshahi, Bangladesh

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Plain Text BibTeX RIS

APA Style

Tushar Kanti Roy. (2015). Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Automation, Control and Intelligent Systems, 3(6), 104-111. https://doi.org/10.11648/j.acis.20150306.12

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ACS Style

Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom. Control Intell. Syst. 2015, 3(6), 104-111. doi: 10.11648/j.acis.20150306.12

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AMA Style

Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom Control Intell Syst. 2015;3(6):104-111. doi: 10.11648/j.acis.20150306.12

Copy | Download

@article{10.11648/j.acis.20150306.12,
  author = {Tushar Kanti Roy},
  title = {Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method},
  journal = {Automation, Control and Intelligent Systems},
  volume = {3},
  number = {6},
  pages = {104-111},
  doi = {10.11648/j.acis.20150306.12},
  url = {https://doi.org/10.11648/j.acis.20150306.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20150306.12},
  abstract = {In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.},
 year = {2015}
}

Copy | Download

TY  - JOUR
T1  - Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method
AU  - Tushar Kanti Roy
Y1  - 2015/12/21
PY  - 2015
N1  - https://doi.org/10.11648/j.acis.20150306.12
DO  - 10.11648/j.acis.20150306.12
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 104
EP  - 111
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20150306.12
AB  - In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.
VL  - 3
IS  - 6
ER  -

Copy | Download