Attitude tracking control problem for unmanned helicopter (UH) is investigated in this paper. Considering the influence of model uncertainties and external disturbances, a strong adaptive attitude tracking controller is proposed. To reduce attitude tracking error and acquire expected flying qualities, the controller adopts a dual-model structure, which simplifies design of the control law by separating model tracking parameters design from adaptive control. In addition, the convergence rate of adaptive parameters is accelerated obviously as a result of introducing a linear compensator, and the effect of sensor noise on adaptive parameters adjustment is reduced effectively by a state filter. Numerical simulations illustrate the effectiveness and feasibility of this attitude control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive dynamic attitude tracking controller design with dual-model structure for unmanned helicopter


    Beteiligte:
    Sheng, Shouzhao (Autor:in) / Jiang, Xiaoliang (Autor:in) / Duan, Haibin (Autor:in) / Sun, Chenwu (Autor:in) / Zhu, Yansong (Autor:in)


    Erscheinungsdatum :

    01.08.2014


    Format / Umfang :

    317469 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Adaptive attitude controller design for unmanned helicopter

    Zhang, Xingwen / Chen, Xianxiang / Liu, Peizhi et al. | IEEE | 2017


    ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter

    Dan Ryals, Andrea / Bertolani, Giulia / Pollini, Lorenzo et al. | IEEE | 2023



    Nonlinear Asymptotic Attitude Tracking Control for an Unmanned Helicopter Using Repetitive Learning

    Zhang, Xu / Xian, Bin | British Library Conference Proceedings | 2022