In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.
Published in | Automation, Control and Intelligent Systems (Volume 3, Issue 6) |
DOI | 10.11648/j.acis.20150306.12 |
Page(s) | 104-111 |
Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
Copyright |
Copyright © The Author(s), 2015. Published by Science Publishing Group |
Adaptive Robust Backstepping Controller, Control Lyapunov Function, External Disturbance, Rotary Wing Autonomous Vehicle, Parametric Uncertainty
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APA Style
Tushar Kanti Roy. (2015). Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Automation, Control and Intelligent Systems, 3(6), 104-111. https://doi.org/10.11648/j.acis.20150306.12
ACS Style
Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom. Control Intell. Syst. 2015, 3(6), 104-111. doi: 10.11648/j.acis.20150306.12
AMA Style
Tushar Kanti Roy. Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method. Autom Control Intell Syst. 2015;3(6):104-111. doi: 10.11648/j.acis.20150306.12
@article{10.11648/j.acis.20150306.12, author = {Tushar Kanti Roy}, title = {Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method}, journal = {Automation, Control and Intelligent Systems}, volume = {3}, number = {6}, pages = {104-111}, doi = {10.11648/j.acis.20150306.12}, url = {https://doi.org/10.11648/j.acis.20150306.12}, eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20150306.12}, abstract = {In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller.}, year = {2015} }
TY - JOUR T1 - Robust Nonlinear Adaptive Controller Design for Horizontal Position Control of a Rotary Wing Autonomous Vehicle Using Backstepping Method AU - Tushar Kanti Roy Y1 - 2015/12/21 PY - 2015 N1 - https://doi.org/10.11648/j.acis.20150306.12 DO - 10.11648/j.acis.20150306.12 T2 - Automation, Control and Intelligent Systems JF - Automation, Control and Intelligent Systems JO - Automation, Control and Intelligent Systems SP - 104 EP - 111 PB - Science Publishing Group SN - 2328-5591 UR - https://doi.org/10.11648/j.acis.20150306.12 AB - In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To prove the convergence of different tracking error to zero, a control Lyapunov function (CLF) is formulated in every step of the design process of controller and which is guaranted through the negative definiteness of the derivative of CLF. At last, a numerical evaluation is performed on a highly fedility nonlinear simulation model to justify the usefulness of the proposed controller. The performance of the designed controller is also compared with a classical PID controller. Simulation results demonstrate that the proposed controller provides an improved performance for the closed-loop system in the presence of parametric and external uncertainties within the UAH model over the existing controller. VL - 3 IS - 6 ER -