Longitudinal Control for a Laboratory Helicopter via Constructive Approximate Backstepping
Abstract
This article presents a controller design based on Lyapunovfunctions, which can be applied to a class of underactuatedsystems that cannot be feedback linearized in a specific setpoint. Particularly, this design will be applied in order tocontrol the longitudinal dynamics of a laboratory helicopter. Thelongitudinal system is an electro-mechanical, non-linear andunderactuated system. The proposed methodology consists ofmodifying the model of the system using an overparametrization insuch a way that the backstepping theory can be applied to theapproximate system. The methodology has been tested by simulated and experimentalresults and it has been proved for the closed-loop system thatthe origin is LES.
