Presentation on theme: "NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles,"— Presentation transcript:
NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles, Université de Versailles Saint Quentin en Yvelines, 10, avenue de l’Europe 78140, Vélizy, France.
1 Introduction. 2 4 rotors Helicopter model Presentation 3 Back stepping controller synthesis 4 Back stepping controller synthesis with observer 5 Simulation and results 6 Conclusion. OUTLINE
Introduction Thanks to its special configuration, the 4 rotor helicopter allows to achieve many tasks in different fields. Symmetry of the platform geometry Low weight Low cost Autonomous flight Non linear control law Synthesis. Complexity of the dynamical system Presence of Perturbations due to the wind Unavailability of some state variables
We include in the expression of V the observing errors to be cancelled Back stepping controller synthesis with observer We shall observe the absolute velocity vector : Difficult to measure We consider that all the other parameters are measurable Where V is a LYAPUNOV candidate function System 4 equations 4 unknowns Convergence of the tracking errors Convergence of observing errors
Simulation and results Simulation of a vertical helix trajectory flight in presence of perturbations (7 newton front wind blowing) The controller gains are adjusted by doing intensive simulations Tracking Trajectory : Initiales positions: