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Model Identification and Active Modeling Control for Small-Size Unmanned Helicopters: Theory and Experiment
Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达)
Department机器人学研究室
Conference Name2010 AIAA Guidance, Navigation, and Control Conference
Conference DateAugust 2-5, 2010
Conference PlaceToronto, Canada
Author of SourceAIAA
Source PublicationAIAA Guidance, Navigation, and Control Conference
PublisherAIAA
Publication PlaceReston, VA
2010
Pages21pp.
Indexed ByEI
EI Accession number20124415615712
Contribution Rank1
AbstractIn this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An enhanced identification algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. Based on adaptive set-membership filter and the built model, this paper also presents a strategy of model-error estimation and elimination to solve the impact of model mismatch in real flight. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. Using the identified model for hovering as the nominal model, the developed strategy is tested on SERVOHELI-40 UAV platform through real flight experimentation. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain, and that proposed strategy for the estimation and elimination of the model-error is feasible and practical for the flight control of unmanned helicopters in full flight envelope.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8777
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No.114, Nanta Street, Shenyang, Liaoning Province, 110016, China
2.Graduate School of CAS, Beijing, China
Recommended Citation
GB/T 7714
Song DL,Qi JT,Han JD. Model Identification and Active Modeling Control for Small-Size Unmanned Helicopters: Theory and Experiment[C]//AIAA. Reston, VA:AIAA,2010:21pp..
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