This paper presents a nonlinear adaptive aggressive controller to provide the small scale helicopter with full authority of a variety of flight conditions. Adaptive backstepping technique is employed to systematically synthesize the proposed controller with the online parameter adaptation rule to the vehicle mass variations and with the recurrent neural network (RNN) approximation to the coupling effect between the force and moment controls. This single and systematic design methodology is shown to achieve the semi-global ultimate boundedness of the closed-loop helicopter dynamics and accommodate the aggressive control of flight maneuvers from hovering to trajectory tracking. The high-fidelity and well-validated nonlinear model of a small scale helicopter incorporating with unmodeled dynamics and measurement uncertainties is adopted in the numerical simulations. The performance and merits of the proposed controller are exemplified by conducting three simulation scenarios including the slalom maneuver described in the ADS33.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear adaptive aggressive control using recurrent neural networks for a small scale helicopter


    Weitere Titelangaben:

    Nichtlineare adaptive aggressive Regelung mit Hilfe rekurrenter neuronaler Netzwerke für einen kleinen Hubschrauber


    Beteiligte:
    Lee, Chi-Tai (Autor:in) / Tsai, Ching-Chih (Autor:in)

    Erschienen in:

    Mechatronics ; 20 , 4 ; 474-484


    Erscheinungsdatum :

    2010


    Format / Umfang :

    11 Seiten, 8 Bilder, 2 Tabellen, 25 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






    Analysis of Adaptive Neural Networks for Helicopter Flight Control

    Jesse Leitner / Anthony Calise / J. V. R. Prasad | AIAA | 1997


    Robust Nonlinear Fault-Tolerant Control of a Small-Scale Helicopter

    Garagic, D. / Boskovic, J. D. / Mehra, R. K. et al. | British Library Conference Proceedings | 2004