Adaptive Tracking Control of a Four-rotor Mini Helicopter Based on Backstepping Technique

  • HOTTA K
  • YAMADA M
  • OOBA T
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Abstract

This paper considers the problem of controlling both the position and the attitude of a four-rotor mini he-licopter. The four-rotor mini helicopter is described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainies. This paper presents a new adaptive tracking controller based on backstepping technique using both a virtual attitude control and an on-line parameter estimation. This controller can make the tracking errors of the position and the yaw angle of a helicopter converge to zero exponentially. A numerical simulation is performed to evaluate the effectiveness of the proposed controller.

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HOTTA, K., YAMADA, M., & OOBA, T. (2014). Adaptive Tracking Control of a Four-rotor Mini Helicopter Based on Backstepping Technique. Transactions of the Society of Instrument and Control Engineers, 50(2), 177–184. https://doi.org/10.9746/sicetr.50.177

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