Title: Combined attitude control application of an underactuated helicopter experimental system

Authors: Mingcong Deng, Akira Inoue, Hongnian Yu, Tatsunori Shimizu

Addresses: Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan. ' Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan. ' Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST16 9DG, UK. ' Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-Naka, Okayama, 700-8530, Japan

Abstract: In this paper, combined attitude control of an underactuated helicopter experimental system is considered. The controlled helicopter experimental system has two inputs and three outputs, namely, this system is underactuated. The combined attitude controller includes a non-linear MIMO controller based on adaptive sliding mode control and non-adaptive non-linear controllers. Control system stability is guaranteed by Lyapunov function-based proof. Experimental results show the effectiveness of the proposed method.

Keywords: nonlinear control; adaptive control; sliding mode control; underactuated systems; attitude control; helicopters; control stability.

DOI: 10.1504/IJAMECHS.2009.026333

International Journal of Advanced Mechatronic Systems, 2009 Vol.1 No.4, pp.280 - 287

Published online: 06 Jun 2009 *

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