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题名: Active Model Based Predictive Control for Unmanned Helicopter in Full Flight Envelope
作者: Song DL(宋大雷) ; Qi JT(齐俊桐) ; Han JD(韩建达) ; Liu GJ(刘光军)
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期: October 18-22, 2010
会议地点: Taipei
会议录: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2010
页码: 616-621
收录类别: CPCI(ISTP) ; EI
ISSN号: 2153-0858
ISBN号: 978-1-4244-6675-7
摘要: For the control of unmanned helicopters in full flight envelope, an active model based control scheme is developed in this paper. An adaptive set-membership filter (ASMF) is used to online estimate both the model error due to flight mode change and its boundary, taking advantage of ASMF, so that the model error can be assumed unknown but bounded (UBB). The proposed approach is practical because the model error depends on both helicopter dynamics and flight states, and may not be assumed as white noise. An active modeling based stationary increment predictive control (AMSIPC) is also proposed based on the estimated model error and its boundary to optimally compensate the model error, as well as the aerodynamics time delay. The proposed method has been implemented on the ServoHeli-20 unmanned helicopter platform and experimentally tested, and the results have demonstrated its effectiveness.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8536
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
宋大雷; 齐俊桐; 韩建达; 刘光军.Active Model Based Predictive Control for Unmanned Helicopter in Full Flight Envelope.见:IEEE .IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010),Piscataway, NJ, USA,2010,616-621
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