The Proceedings of the Symposium on the Motion and Vibration Control
Online ISSN : 2424-3000
2013.13
Session ID : D23
Conference information
D23 Adaptive Tracking Control of Four-rotor Mini Helicopter Based on Exact Feedback Linearization
Shuhei YAMASHITAKatsuya HOTTAKeita MORIManabu YAMADA
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Abstract
This paper considers the problem of controlling both the position and the attitude of a four-rotor mini helicopter. The four-rotor mini helicopter is described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainties. This paper presents a new adaptive tracking controller based on backstepping technique, exact feedback linearization and optimal control for position tracking. This controller can make to converge to zero the tracking error of the position and the yaw angle exponentially. A numerical simulation is performed to evaluate the effectiveness of the proposed controller.
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© 2013 The Japan Society of Mechanical Engineers
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