1 / 15

NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER

NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles, Université de Versailles Saint Quentin en Yvelines, 10, avenue de l’Europe 78140, Vélizy, France. 1. Introduction.

meadow
Télécharger la présentation

NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles, Université de Versailles Saint Quentin en Yvelines, 10, avenue de l’Europe 78140, Vélizy, France.

  2. 1 Introduction. 4 rotors Helicopter model Presentation 2 Back stepping controller synthesis 3 4 Back stepping controller synthesis with observer Simulation and results 5 Conclusion. 6 OUTLINE

  3. Introduction • Thanks to its special configuration, the 4 rotor helicopter allows to achieve many tasks in different fields. • Symmetry of the platform geometry • Low weight • Low cost • Autonomous flight  Non linear control law Synthesis. • Complexity of the dynamical system • Presence of Perturbations due to the wind • Unavailability of some state variables

  4. 4 rotors Helicopter model Presentation

  5. State vector: Gravity center coordinates Orientation angels: Yaw, Roll, Pitch. Angularvelocities / Helicopter frame Absolute velocities / Earth frame Aero dynamical forces Aero dynamical Momentums

  6. The state representation is given by:

  7. System outputs: Desired outputs: Control laws: Back stepping controller synthesis We consider that all the state vector is measurable System of 4 equations 4 unknowns

  8. SIMULINK bloc diagram of the controller

  9. : Difficult to measure Convergence of the tracking errors Convergence of observing errors System 4 equations 4 unknowns Back stepping controller synthesis with observer • We shall observe the absolute velocity vector • We consider that all the other parameters are measurable Where V is a LYAPUNOV candidate function • We include in the expression of V the observing errors to be cancelled

  10. Tracking Trajectory : Initiales positions: Simulation and results • Simulation of a vertical helix trajectory flight in presence of perturbations (7 newton front wind blowing) • The controller gains are adjusted by doing intensive simulations

  11. 3D Tracking trajectory

  12. Tracking errors for the BACKSTEPPING controller

  13. Observation Errors for the BACKSTEPPING Observer

  14. Tracking Errors for the BACKSTEPPING controller with Observer

  15. Conclusion : This approach has shown : • Good robustness of the Controller • Good convergence of the couple controller observer • allows to decrease the number of the required sensors

More Related