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基于反馈线性化的无人直升机航向控制 被引量：1

Yaw Control of Unmanned Helicopter Based on Feedback Linearization
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摘要 本文着重解决小型无人直升机航向自适应控制问题.通过求非线性函数导数,把原始系统扩展为一个带有伪状态变量的新系统.这种方法不必求解非线性函数的逆,并且降低了计算量.证明了该方法的稳定性.针对实际模型直升机实验平台航向动力学模型,仿真结果表明了该方法的有效性. This paper discusses adaptive yaw control of small-size unmanned helicopter. By solving the derivative of nonlinear function, the original system is extended to a new system with a pseudostate variable. This approach doesn＇t need to solve the inverse of nonlinear function and reduces the calculation cost. Stability of the proposed algorithm is proved, and simulation results on the dynamic model of a real helicopter-on-arm testbed demonstrate the effectiveness of the proposed algorithm.
作者 姜哲 何玉庆 赵新刚 韩建达 王越超
机构地区 中国科学院沈阳自动化研究所机器人学重点实验室
出处 《机器人》 EI CSCD 北大核心 2007年第3期193-199,共7页 Robot
基金 国家863计划资助项目(2003AA421020)
关键词 反馈线性化 输入非线性 直升机 航向控制 feedback linearization input nonlinearity helicopter yaw control
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献13

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同被引文献12

  • 1赵新刚,姜哲,韩建达,刘光军.模型直升机航向自适应保性能控制[J].系统仿真学报,2007,19(13):3047-3051. 被引量：4
  • 2胡寿松.自动控制原理[M].北京:科学出版社,2006.
  • 3Mettler B. Identification Modeling and Characteristics of Miniature Rotorcraft [ M ]. Norwell: Kluwer Academic Publishers ,2003 : 163-200.
  • 4Ping Song, Qi Guang-ping, Li Ke-jie. The flight control system based on multivariable PID neural network for smallscale unmanned helicopter [ C ]//International Conf. Information Technology and Computer Science,2009:538-541.
  • 5Xin Hou, Ping Li, Zhou Fang, et al. An application of fuzzy PID algorithm on unmanned helicopter attitude control [ C ] //Proc. of the 6th World Congress on Intelligent Control and Automation,2006:9129-9133.
  • 6Sanchez E N, Becerra H M, Velez C M. Combining fuzzy and PID control for an unmanned helicopter [ C ]// Annual meeting of the North American Fuzzy Information Processing Society, 2005 : 235 -240.
  • 7Wang Xiao-dong, Zhao Xiao-guang, A practial survey on the flight control system of small-scale unmanned helicopter [C]//Proc. of the 7th World Congress on Intelligent Control an Automation,2008:364-369.
  • 8Daigo Fjiwara, Kenzo Nonami. H ∞ hovering and guidance control for autonomous small-scale unmanned helicopter [ C ] //Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems,2004:2463-2468.
  • 9Civita M L. Integrated Modeling and Robust Control for Full- Envelope Flight of Robotic Helicopters [ C ]//Proc. of IEEE International Conf. Robotics & Automation,2003:552-557.
  • 10Shim D H. Hierarchical Flight Control System Synthesis for Rotorcraft based Unmanned Aerial Vehicles [ C ] //AIAA Guidance,Navigation and Control Conf. & Exhibit,2000:1-9.

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机器人
2007年 第3期

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