6533b7d1fe1ef96bd125c377

RESEARCH PRODUCT

Adaptive Backstepping Control of a 2-DOF Helicopter System in the Presence of Quantization

Siri Marte SchlanbuschJing Zhou

subject

VDP::Teknologi: 500

description

Author's accepted manuscript. © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This paper studies the attitude tracking control for an uncertain 2-degrees of freedom helicopter system where the inputs and the states are quantized. An adaptive backstepping based control scheme is proposed to handle the effect of quantization for tracking of reference angles for pitch and yaw. All closed-loop signals are ensured uniformly bounded and the tracking errors will converge to a compact set containing the origin. Experiments on the helicopter system illustrate the proposed control scheme.

https://hdl.handle.net/11250/3069017