Yaw Control of Unmanned Helicopter Based on Feedback Linearization
JIANG Zhe1,2, HE Yu-qing1,2, ZHAO Xin-gang1,2, HAN Jian-da1, WANG Yue-chao1
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
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. ROBOT, 2007, 29(3): 193-199..
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.
[1] Khalil H K.Nonlinear Systems(3rd ed)[M].Upper SaddleRiver,NJ,USA:Prentice Hall,2002.
[2] Slotine J E,Li W.Applied Nonlinear Control[M].Englewood Clifis,NJ,USA:Prentice Hall,1991.
[3] Tao G,Kokotovic P.Adaptive Control of Systems with Actuator and Sensor Nonlinearities[M].New York:Wiley,1996.
[4] Jiang Z,Han J D.Enhanced LQR control for unmanned helicopter in hover[A].1st International Symposium on Systems and Control in Aerospace and Astronautics[C].Piscataway,NJ,USA:IEEE,2006.1438-1443.
[5] Leishman J G.Principles of Helicopter Aero Dynamics[M].NJ:Cambridge University Press,2000.
[6] Shim H.Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles[D].Berkeley,USA:University of California,2000.
[7] Pieper J K,Baillie S,Goheen K R.Linear quadratic optimal model-following control of a helicopter in hover[J].Optimal Control Applications and Methods,1996,17(2):123-140.
[8] Koo T J,Sastry S.Output tracking control design of a helicopter model based on approximate linearization[A].Proceedings of the 37th IEEE Conference on Decision and Control[C].Piscataway,NJ,USA:IEEE,1998.3635-3640.
[9] Prasad J V R,Calise A J,Pei Y,et al.Adaptive nonlinear controller synthesis and flight test evaluation on an unmanned helicopter[A].Proceedings of the 1999 IEEE International Conference on Control Applications[C].Piscataway,NJ,USA:IEEE,1999.137-142.
[10] Pesonen U J,Steck J E,Rokhsaz K,et al.Adaptive neural network inverse controller for general aviation safety[J].Journal of Guidance,Control,and Dynamics,2004,27(3):434-443.
[11] Chiasson J.A new approach to dynamic feedback linearization control of an induction motor[J].IEEE Transactions on Automatic Control,1998,43(3):391-397.
[12] Ninomiya T,Yamaguchi I,Kida T.Feedback control of plants driven by nonlinear actuators via input-state linearization[J].Journal of Guidance,Control,and Dynamics,2006,29(1):20-24.
[13] Su R.On the linear equivalents of nonlinear systems[J].Systems & Control Letters,1982,2(1):48-52.