An incremental nonlinear dynamic inversion (INDI) adaptive control method with neural network is proposed to realize the full-mode flight control of a coaxial high-speed helicopter in presence of model uncertainty. This paper constructed a nonlinear dynamics model of a coaxial high-speed helicopter considering aerodynamic disturbances. Then the INDI control method for attitude inner loop and velocity outer loop according to time scale separation theorem is designed. Furthermore, in order to compensate the model uncertainty and environmental disturbance uncertainty, the BPNN adaptive control algorithm is introduced. Finally, the simulation results are shown to have better robustness by comparing it with the traditional INDI method.


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    Title :

    Incremental Dynamic Inversion Adaptive Control of Coaxial High-Speed Helicopter Based on Neural Network


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Li, Yaqin (author) / Lv, Mengmeng (author) / Xu, Kaizhao (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-07


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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