Adaptive predictor-based control for a helicopter system with input delays:Design and experiments  

作　　者：Siri Marte Schlanbusch Jing Zhou 

机构地区：[1]Department of Engineering Sciences,University of Agder,4879 Grimstad,Norway

出　　处：《Journal of Automation and Intelligence》2024年第1期50-56,共7页自动化与人工智能（英文）

基　　金：partially supported by the DEEPCOBOT project under Grant 306640/O70 funded by the Research Council of Norway.

摘　　要：In this paper,we consider a 2-degrees-of-freedom(DOF)helicopter system subject to long input delays and uncertain system parameters.To address the challenges including unknown system parameters and input delays in control design,we develop an adaptive predictor-feedback control law to achieve trajectory tracking.Stability of the closed-loop system is further established,where the tracking errors are shown to converge towards zero.Through simulation and experiments on the helicopter system,we illustrate that tracking of a desired trajectory is achieved with the proposed control scheme.

关 键 词：Adaptive control BACKSTEPPING Helicopter system Time delays 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]