2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS)

• Main Authors: Haruna, Ado, Mohamed, Zaharuddin, M. Basri, M. Ariffanan, Ramli, Liyana, Alhassan, Ahmad Bala
• Format: Article
• Published: Univ El Oued, Fac Science & Technology 2017
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/77489/; http://dx.doi.org/10.4314/jfas.v9i6s.31

This work proposes a simplified nonlinear backstepping control method for fast trajectory tracking of a 2-DOF laboratory helicopter called the Two Rotor Aero-dynamical System (TRAS). The relative degree 3 system is decomposed into the yaw subsystem (YS) and the pitch subsystem (PS) and an integral b...