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Two time-scale model based adaptive control for helicopter under unknown wind conditions
Song Q(宋崎); Jiang ZY(江紫亚); Han JD(韩建达); Wang HG(王洪光)
Department机器人学研究室
Conference Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Conference DateDecember 5-10, 2014
Conference PlaceBali, Indonesia
Author of SourceHarbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
Source Publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages1537-1541
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152100876945
WOS IDWOS:000380399500255
Contribution Rank1
ISBN978-1-4799-7396-5
AbstractTwo time-scale model based adaptive control method is proposed for a helicopter to overcome wind disturbances in this paper. Wind disturbances are considered as a mixture of four sinusoidal signals with unknown frequencies, amplitudes and phases. The controller is designed based on the concept of time-scale separation, which has the advantage of decoupling of the rotational and translational dynamics. Backstepping control and inverse dynamic control method are used to design the fast controller and the slow controller individually and different control intervals are used for the two models. Unscented Kalman filter (UKF) is used for online estimation of wind disturbances. The results from UKF are used for the adaptive reconfiguration of the two time-scaled model based controller. Simulation results show that the adaptive control method reduces the impact of wind disturbances and achieves good performance.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16118
Collection机器人学研究室
Corresponding AuthorSong Q(宋崎)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, Liaoning Province, China
2.Aerospace Engineering Department, Shenyang Aerospace University, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Song Q,Jiang ZY,Han JD,et al. Two time-scale model based adaptive control for helicopter under unknown wind conditions[C]//Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems. Piscataway, NJ, USA:IEEE,2014:1537-1541.
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