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Feedback linearization of the nonlinear model of a small-scale helicopter 被引量：7

Feedback linearization of the nonlinear model of a small-scale helicopter
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摘要 In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristics of a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hovering control is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear system using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinear controller. In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristics of a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hovering control is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear system using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinear controller.
作者 Baoquan SONG Yunhui LIU Caizhi FAN
机构地区 College of Electronic Science and Engineering Department of Mechanical and Automation Engineering
出处 《控制理论与应用（英文版）》 EI 2010年第3期301-308,共8页
基金 supported by the National Natural Science Foundation of China (No.60975023)
关键词 Feedback linearization Nonlinear model Model helicopter Feedback linearization Nonlinear model Model helicopter
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置] O212.1 [理学—概率论与数理统计]
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参考文献26

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同被引文献44

  • 1何勇灵,陈彦民,周岷峰.四旋翼飞行器在风场扰动下的建模与控制[J].中国惯性技术学报,2013,21(5):624-630. 被引量：35
  • 2顾冬雷,夏先明,高正.无人直升机飞控系统设计与应用[J].南京航空航天大学学报,2005,37(4):476-478. 被引量：11
  • 3URO L, ROK G, MATEJ G. Simulation and control of a helicopter pilot plane [C]//Proceedings of the llth International Culture and Academic meeting of Engineering Students, Turkey, 2005.
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  • 6HONC Y, HUANG J, XU Y. On an output feedback finite-time stabilization problem [J]. IEEE Transactions on Automatic Control, 2001, 46(2): 305-309.
  • 7FENG Y, ZHENG J, YU X, TRUONG N V. Hybrid terminal sliding mode observer design method for a permanent magnet synchronous motor control system [J]. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3424-3431.
  • 8Vv S, Vu X, SHIRINZADEH B, MAN Z. Continuous finite-time control for robotic manipulator with terminal sliding mode [J]. Automatica, 2005, 41(10): 1957-1964.
  • 9LI S H, TIAN Y P. Finite time synchronization of chaotic systems [J]. Chaos Solitions and Fractal, 2003, 15(2): 303-310.
  • 10ZHANG C L, L1 S H, TIAN Y P. Finite-time output feedback stabilization and control for a quadrotor mini-aircraft [J]. Kybernetika, 2012, 48(2): 206222.

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控制理论与应用（英文版）
2010年 第3期

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