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多无人直升机的相对动力学建模方法及其编队控制
Alternative TitleRelative dynamic modeling and formation control of multiple unmanned helicopters
王争; 何玉庆; 韩建达
Department机器人学研究室
Source Publication控制理论与应用
ISSN1000-8152
2011
Volume28Issue:1Pages:108-112
Indexed ByEI ; CSCD
EI Accession number20111413898260
CSCD IDCSCD:4134640
Contribution Rank1
Funding Organization机器人学国家重点实验室自主课题资助项目(RLZ200806)
Keyword无人直升机 编队控制 相对动力学 动力学模型 控制器 建模方法 反馈线性化 自由度 相对状态 坐标系
Abstract本文将多无人直升机编队控制分解为若干对具有主从结构的无人直升机相对状态控制问题,并提出利用相对动力学建模方法设计编队控制器.无人直升机相对动力学由6自由度空间刚体相对动力学和单体直升机飞行动力学两部分组成.基于这种相对动力学模型利用反馈线性化和扩展高增益观测方法设计具有内外环阶梯结构的控制器.最后,通过仿真验证了这种方法能够跟踪给定期望值并具有一定扰动抑制能力.
Other AbstractBased on the concept of relative dynamics and leader-follower formation strategy,a new formation control algorithm is developed to partially solve the formation problem.Firstly,the relative dynamics is derived by combining the 6-DOF rigid body relative dynamics with the individual unmanned helicopter dynamics.Secondly,with the cascade control structure which includes inner and outer loops,a tracking controller is designed by using the techniques of approximate feedback linearization and the extended high ga...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7169
Collection机器人学研究室
Corresponding Author王争
Recommended Citation
GB/T 7714
王争,何玉庆,韩建达. 多无人直升机的相对动力学建模方法及其编队控制[J]. 控制理论与应用,2011,28(1):108-112.
APA 王争,何玉庆,&韩建达.(2011).多无人直升机的相对动力学建模方法及其编队控制.控制理论与应用,28(1),108-112.
MLA 王争,et al."多无人直升机的相对动力学建模方法及其编队控制".控制理论与应用 28.1(2011):108-112.
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