Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances
文献类型：期刊论文
| 作者 | Haoxiang Ma; Mou Chen; Qingxian Wu |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:11页码:2056-2069 |
| 关键词 | Disturbance observer dynamic surface control safe tracking control safety protection algorithm unmanned autonomous helicopter |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2022.105938 |
| 英文摘要 | In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52423]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Haoxiang Ma,Mou Chen,Qingxian Wu. Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(11):2056-2069. |
| APA | Haoxiang Ma,Mou Chen,&Qingxian Wu.(2023).Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances.IEEE/CAA Journal of Automatica Sinica,10(11),2056-2069. |
| MLA | Haoxiang Ma,et al."Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances".IEEE/CAA Journal of Automatica Sinica 10.11(2023):2056-2069. |
入库方式： OAI收割
来源：自动化研究所
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