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题名: Active modeling based model predictive control for yaw-heave coupling dynamics of unmanned helicopters in full flight envelope
作者: Song DL(宋大雷) ; Qi JT(齐俊桐) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: AUVSI Unmanned Systems North America Conference 2009
会议日期: August 10-13, 2009
会议地点: Washington, DC, United states
会议录: AUVSI Unmanned Systems North America Conference 2009
会议录出版者: Association for Unmanned Vehicle Systems International
会议录出版地: Arlington, VA
出版日期: 2009
页码: 492-505
收录类别: EI
ISBN号: 9781615675807
关键词: Actuators ; Controllers ; Dynamics ; Flight envelopes ; Helicopters ; Predictive control systems ; Robust control
摘要: For realizing the yaw-heave coupling control of unmanned helicopters in full flight envelope, an active modeling based controller is developed based on robust model predictive control and adaptive set-membership filter estimation. A steady increment based model predictive control is proposed, which makes use of the estimated values and boundaries of full states and model errors to deal with the varying yaw-heave dynamics and actuator delay in full flight envelope. This scheme also results in lower computation times and the ability to satisfy the input constraints with partial state information for effective helicopter control. Using the identified hovering and cruising dynamics model, real flight experiment is done to test the performance of the proposed controller in full flight envelope on our UAV platform. The results demonstrate that the active modeling based controller can solve the actuator delay and varying yaw-heave dynamics, and is feasible for the yaw-heave control of unmanned helicopters in full flight envelope.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8537
Appears in Collections:机器人学研究室_会议论文

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