Control of Unmanned Helicopter under Disturbance based on Improved Inner-outer Loop Control Strategy

DOI

10.2991/fmsmt-17.2017.82How to use a DOI?

Keywords

Improved PID controller; adaptive back-stepping controller; Attitude control; Unmanned Helicopter

Abstract

This paper proposed an inner-outer loop control strategy, which is derived on a simplified non-linear model for unmanned helicopter, to deal with the problem of control stability under disturbances. The outer loop controller, which is an improved PID controller, may adjust PID parameters dynamically to achieve stable control law for position control under disturbance. The inner loop controller is designed for controlling attitude angles under disturbance. By estimating the disturbance beforehand, the inner loop controller may achieve control stability of attitude angles efficiently. Moreover, based on the proposed simplified nonlinear model, design of the Lyapunov function in inner-loop controller can also be simplified, which facilitates engineering application. Numerical experiment results show that the proposed controller can stably control the attitude angle and position of unmanned helicopter under disturbances.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chuanbo Qin
AU  - Bao Feng
AU  - Hongjun Fan
PY  - 2017/04
DA  - 2017/04
TI  - Control of Unmanned Helicopter under Disturbance based on Improved Inner-outer Loop Control Strategy
BT  - Proceedings of the 2017 5th International Conference on Frontiers of Manufacturing Science and Measuring Technology (FMSMT 2017)
PB  - Atlantis Press
SP  - 390
EP  - 394
SN  - 2352-5401
UR  - https://doi.org/10.2991/fmsmt-17.2017.82
DO  - 10.2991/fmsmt-17.2017.82
ID  - Qin2017/04
ER  -