Modeling and Robust Attitude Controller Design for a Small Size Helicopter

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.Comment: 6 page

Barrier Lyapunov function-based adaptive fuzzy attitude tracking control for rigid satellite with input delay and output constraint

This paper investigates the adaptive attitude tracking problem for the rigid satellite involving output constraint, input saturation, input time delay, and external disturbance by integrating barrier Lyapunov function (BLF) and prescribed performance control (PPC). In contrast to the existing approaches, the input delay is addressed by Pade approximation, and the actual control input concerning saturation is obtained by utilizing an auxiliary variable that simplifies the controller design with respect to mean value methods or Nussbaum function-based strategies. Due to the implementation of the BLF control, together with an interval notion-based PPC strategy, not only the system output but also the transformed error produced by PPC are constrained. An adaptive fuzzy controller is then constructed and the predesigned constraints for system output and the transformed error will not be violated. In addition, a smooth switch term is imported into the controller such that the finite time convergence for all error variables is guaranteed for a certain case while the singularity problem is avoided. Finally, simulations are provided to show the effectiveness and potential of the proposed new design techniques