Improved integral backstepping control of variable speed motion systems with application to a laboratory helicopter
Abstract
This paper proposes an improved method of integral backstepping for real time control of a laboratory helicopter with variable speed rotors known as the Two-Rotor Aero-dynamic System (TRAS). The coupled system is decomposed into the horizontal subsystem (HS) and the vertical subsystem (VS) and traditional backstepping, augmented with direct integral action is designed for each subsystem. The transient response to both constant and time varying...
Paper Details
Title
Improved integral backstepping control of variable speed motion systems with application to a laboratory helicopter
Published Date
Feb 1, 2020
Journal
Volume
97
Pages
1 - 13
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