2-STEP INTEGRAL BACKSTEPPING CONTROL OF THE TWO-ROTOR AERO-DYNAMICAL SYSTEM (TRAS)

Authors

  • A. Haruna Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 Johor Bahru, Johor
  • Z. Mohamed Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 Johor Bahru, Johor
  • M. A. M. Basri Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 Johor Bahru, Johor
  • L. Ramli Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 Johor Bahru, Johor
  • A. Alhassan Faculty of Electrical Engineering, UniversitiTeknologi Malaysia, 81310 Johor Bahru, Johor

DOI:

https://doi.org/10.4314/jfas.v9i6s.31

Keywords:

integral, backstepping, MIMO, nonlinear

Abstract

This work proposes a simplified nonlinear backstepping control method for fast trajectory tracking of a 2-DOF laboratory helicopter called the Two Rotor Aero-dynamical System (TRAS). The relative degree 3 system is decomposed into the yaw subsystem (YS) and the pitch subsystem (PS) and an integral backstepping controller (IBC) is designed for each subsystem with the coupling effects considered as uncertainties. The control design considers the system as having relative degree 2, resulting in a much less complex 2-step backstepping control law requiring partial state feedback. Real time experiments show good tracking ability of the proposed method to different input waveforms within a wide operating range.

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Published

2017-11-10

Issue

Section

Research Articles