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.
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