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UKF based robust attitude control for helicopter
Song Q(宋崎); Han JD(韩建达); Jiang Z(姜哲)
作者部门机器人学研究室
会议名称2012 10th World Congress on Intelligent Control and Automation (WCICA)
会议日期July 6-8, 2012
会议地点Beijing, China
会议主办者IEEE Control Systems Society
会议录名称Proceedings of the 10th World Congress on Intelligent Control and Automation
出版者IEEE
出版地New York, USA
2012
页码1442-1446
收录类别EI
EI收录号20130415919246
产权排序1
ISBN号978-1-4673-1398-8
关键词Ukf Backstepping Control Attitude Control Helicopter
摘要In 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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10222
专题机器人学研究室
作者单位1.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
推荐引用方式
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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