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题名: Enhanced LQR control for unmanned helicopter in hover
作者: Jiang Z(姜哲) ; Han JD(韩建达) ; Wang YC(王越超) ; Song Q(宋崎)
作者部门: 机器人学研究室
会议名称: 1st International Symposium on Systems and Control in Aerospace and Astronautics
会议日期: January 19-21, 2006
会议地点: Harbin, China
会议主办者: IEEE Aerpsp & Elect Syst Soc, IEEE Ind Elect Soc, Amer Inst Aeronaut & Astronaut, China Space Agcy, China Aerosp Sci & Technol Corp, China Aerosp Sci & Ind Corp, Chinese Soc Aerosp, Asia Pacific Space Cooperat Org Secretariat, Harbin Inst Technol, Space Control & Inertial Technol Res Ctr
会议录: ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1438-1443
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-9395-3
关键词: Real time adaptability is of central importance for the control of Unmanned Helicopter flying under different circumstances. In this paper ; an active model is employed to handle the time varying uncertainties involved in the helicopter dynamics during flight. In the scheme ; a normal LQR control designed from a simplified model at hovering is enhanced by means of Unscented-Kalman-Filter (UKF) based estimation ; which tries to online capture the error between the simplified model and the full dynamics. This is intended to achieve adaptive performance without the need of adjusting the controller modes or parameters along with the changing dynamics of helicopter. Simulations with respect to a model helicopter are conducted to verify both the UKF-based estimation and the enhanced LQR control. Results are also demonstrated with the normal LQR control with the active model enhancement.
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/173321/8688
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜哲; 韩建达; 王越超; 宋崎.Enhanced LQR control for unmanned helicopter in hover.见:IEEE .ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2,NEW YORK,2006,1438-1443
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