姜哲, 何玉庆, 赵新刚, 韩建达, 王越超. 基于反馈线性化的无人直升机航向控制[J]. 机器人, 2007, 29(3): 193-199.
引用本文: 姜哲, 何玉庆, 赵新刚, 韩建达, 王越超. 基于反馈线性化的无人直升机航向控制[J]. 机器人, 2007, 29(3): 193-199.
JIANG Zhe, HE Yu-qing, ZHAO Xin-gang, HAN Jian-da, WANG Yue-chao. Yaw Control of Unmanned Helicopter Based on Feedback Linearization[J]. ROBOT, 2007, 29(3): 193-199.
Citation: JIANG Zhe, HE Yu-qing, ZHAO Xin-gang, HAN Jian-da, WANG Yue-chao. Yaw Control of Unmanned Helicopter Based on Feedback Linearization[J]. ROBOT, 2007, 29(3): 193-199.

基于反馈线性化的无人直升机航向控制

Yaw Control of Unmanned Helicopter Based on Feedback Linearization

  • 摘要: 本文着重解决小型无人直升机航向自适应控制问题.通过求非线性函数导数,把原始系统扩展为一个带有伪状态变量的新系统.这种方法不必求解非线性函数的逆,并且降低了计算量.证明了该方法的稳定性.针对实际模型直升机实验平台航向动力学模型,仿真结果表明了该方法的有效性.

     

    Abstract: This paper discusses adaptive yaw control of small-size unmanned helicopter.By solving the derivative of nonlinear function,the original system is extended to a new system with a pseudostate variable.This approach doesn't need to solve the inverse of nonlinear function and reduces the calculation cost.Stability of the proposed algorithm is proved,and simulation results on the dynamic model of a real helicopter-on-arm testbed demonstrate the effectiveness of the proposed algorithm.

     

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