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UKF based robust attitude control for helicopter
Song Q(宋崎); Han JD(韩建达); Jiang Z(姜哲)
Conference Name2012 10th World Congress on Intelligent Control and Automation (WCICA)
Conference DateJuly 6-8, 2012
Conference PlaceBeijing, China
Author of SourceIEEE Control Systems Society
Source PublicationProceedings of the 10th World Congress on Intelligent Control and Automation
Publication PlaceNew York, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130415919246
WOS IDWOS:000395422501091
Contribution Rank1
KeywordUkf Backstepping Control Attitude Control Helicopter
AbstractIn order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are adopted in the attitude control design. Model-based backstepping control is presented to keep the desired helicopter attitude. UKF is employed for online estimation of both motion states and model errors of the helicopter. Such estimation results are further incorporated into the controller of helicopter. The backstepping control enhanced by real time model errors feedback can achieve a robust tracking performance even with the occurrence of external disturbance. Simulations conducted on the helicopter illustrate the effectiveness of the proposed attitude control.
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Document Type会议论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, Liaoning Province, China
2.Automation Department, Shenyang Institute of Aeronautical Engineering, Shenyang, Liaoning Province, China
3.Academy of Mathematics and Systems Science, Chinese Academy of Science, Beijing, China
Recommended Citation
GB/T 7714
Song Q,Han JD,Jiang Z. UKF based robust attitude control for helicopter[C]//IEEE Control Systems Society. New York, USA:IEEE,2012:1442-1446.
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