Adaptive output feedback for high-bandwidth control of an unmanned helicopter

Naira Hovakimyan, Nakwan Kim, Anthony J. Calise, J. V.R. Prasad, Eric Corban

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider adaptive output feedback neuro-control of uncertain nonlinear systems, and in particular its application to high-bandwidth flight control of unmanned rotorcraft. Given a smooth reference trajectory, the problem is to design a controller that would force the system measurement to track it asymptotically or with bounded errors. The classical approach necessitates building state observers. The state estimates are used both in the controller design and in the adaptation laws. However, finding a good observer for an uncertain nonlinear plant is not an obvious task. We argue that it should be sufficient to build an observer for the output tracking error only. The method is employed in the design of a high-bandwidth attitude command system for an unmanned helicopter.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2001
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2001 - Montreal, QC, Canada
Duration: Aug 6 2001Aug 9 2001

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2001
CountryCanada
CityMontreal, QC
Period8/6/018/9/01

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hovakimyan, N., Kim, N., Calise, A. J., Prasad, J. V. R., & Corban, E. (2001). Adaptive output feedback for high-bandwidth control of an unmanned helicopter. In AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA Guidance, Navigation, and Control Conference and Exhibit).