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题名: An adaptive robust guaranteed cost controller design and its application to the yaw control of helicopter
作者: Zhao XG(赵新刚) ; Han JD(韩建达) ; Jiang Z(姜哲)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Information Acquisition
会议日期: July 8-11, 2007
会议地点: Cheju Isl, SOUTH KOREA
会议主办者: IEEE
会议录: 2007 INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION, VOLS 1 AND 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 351-356
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1219-8
关键词: helicopter ; guaranteed cost control ; robust control ; adaptive control
摘要: This paper discusses the adaptive robust guaranteed cost tracking control problem of linear systems. with time-varying uncertainties. The bounds of varying uncertainty ellipsoidal are obtained by set membership identification method. The proposed adaptive robust controller consists of a constant gain determined by the nominal system and a variable gain tuned by the designed adaptive laws. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8553
Appears in Collections:机器人学研究室_会议论文

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