SIA OpenIR  > 机器人学研究室
旋翼飞行机器人系统建模与主动模型控制理论及实验研究
Alternative TitleModel Identification and Active Modeling Control for Rotor Fly-robot:Theory and Experiment
宋大雷; 齐俊桐; 韩建达; 王越超
Department机器人学研究室
Source Publication自动化学报
ISSN1874-1029
2011
Volume37Issue:4Pages:480-495
Indexed ByEI ; CSCD
EI Accession number20112114006868
CSCD IDCSCD:4181469
Contribution Rank1
Funding Organization国家高技术研究发展计划(863计划)(7150080050)资助~~
Keyword系统辨识 旋翼飞行机器人 主动模型 自适应集员估计 参考模型 控制器 飞行模态 动力学模型 估计方法 模型辨识
Abstract为解决旋翼飞行机器人全包线飞行中的参考模型辨识问题和由飞行模态转换、内外部扰动,以及动力学时变所产生的模型失配问题,并消除模型失配对基于参考模型所设计的飞行控制器造成的跟踪性能的影响,本文提出了基于悬停参考模型的系统辨识和主动模型的在线控制策略.通过改进的频域辨识方法和半解耦的简化模型结构,在悬停模态下进行模型拟合和全包线飞行的模型差分析,然后结合自适应集员估计(Adaptive set-membership filter,ASMF)方法提出模型差的在线估计和控制补偿策略来应对统计学未知且有界(Unknown but bounded,UBB)的模型差,以此消除上述模型失配对名义控制器理想条件的破坏所造成的控制性能降低.最后,通过在ServoHeli-40旋翼飞行机器人平台的实际飞行对比实验,验证了所提出方法的有效性和现实可行性.
Other AbstractThis paper proposes an active modeling control method, as well as a simplified reference model and a modified frequency identification process, to deal with the model mismatch, which brings errors to nominal controller. The hovering model is identified through the proposed semi-decoupled reference model and the modified frequency identification process. Based on this hovering model and adaptive set-membership filter (ASMF), a scheme of compensation for nominal controller is developed due to the unknown but ...
Language中文
Citation statistics
Cited Times:5[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7251
Collection机器人学研究室
Corresponding Author宋大雷
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
宋大雷,齐俊桐,韩建达,等. 旋翼飞行机器人系统建模与主动模型控制理论及实验研究[J]. 自动化学报,2011,37(4):480-495.
APA 宋大雷,齐俊桐,韩建达,&王越超.(2011).旋翼飞行机器人系统建模与主动模型控制理论及实验研究.自动化学报,37(4),480-495.
MLA 宋大雷,et al."旋翼飞行机器人系统建模与主动模型控制理论及实验研究".自动化学报 37.4(2011):480-495.
Files in This Item: Download All
File Name/Size DocType Version Access License
ZWQK001056.pdf(2807KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[宋大雷]'s Articles
[齐俊桐]'s Articles
[韩建达]'s Articles
Baidu academic
Similar articles in Baidu academic
[宋大雷]'s Articles
[齐俊桐]'s Articles
[韩建达]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[宋大雷]'s Articles
[齐俊桐]'s Articles
[韩建达]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ZWQK001056.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.