Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances

doi:10.1109/JAS.2022.105938

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	Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances
	Haoxiang Ma; Mou Chen; Qingxian Wu
刊名	IEEE/CAA Journal of Automatica Sinica
	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.
内容类型	期刊论文
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.