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Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter

文献类型：期刊论文

作者He YQ(何玉庆); Han JD(韩建达)
刊名JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
出版日期2010
卷号33期号:4页码:1236-1250
关键词H-INFINITY CONTROL FLIGHT CONTROL TRACKING DESIGN
ISSN号0731-5090
产权排序1
中文摘要While a few proposed control strategies have shown their acceptable effectiveness, performance improvement on stability and robustness of unmanned helicopters are still imperative and a great challenge due to strong nonlinearities, extensive parameter uncertainties and external disturbances when the flight condition is terrible, such as flight on a windy day. Because acceleration feedback control is advantageous in terms of simple controller structure and easy implementation, we attempt to incorporate it into the tracking control of an unmanned helicopter that is highly nonlinear and underactuated. In this paper, we use a prefilter to formulate a new acceleration feedback control and then use it as a robust enhancement for the H(infinity) algorithm to attenuate uncertainties and external disturbances involved in the tracking control of an unmanned helicopter. We conduct simulations with an unmanned model helicopter and compare the tracking performance of the helicopter with and without acceleration feedback control. The results show that the use of acceleration feedback control does enhance tracking performance greatly compared to the standard H(infinity) control.
WOS标题词Science & Technology ; Technology
类目[WOS]Engineering, Aerospace ; Instruments & Instrumentation
研究领域[WOS]Engineering ; Instruments & Instrumentation
关键词[WOS]H-INFINITY CONTROL ; FLIGHT CONTROL ; TRACKING ; DESIGN
收录类别SCI ; EI
语种英语
WOS记录号WOS:000279889400019
公开日期2012-05-29
源URL[http://ir.sia.cn/handle/173321/7295]  
专题沈阳自动化研究所_机器人学研究室
推荐引用方式
GB/T 7714		 He YQ,Han JD. Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter[J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS,2010,33(4):1236-1250.
APA He YQ,&Han JD.(2010).Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter.JOURNAL OF GUIDANCE CONTROL AND DYNAMICS,33(4),1236-1250.
MLA He YQ,et al."Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter".JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 33.4(2010):1236-1250.

入库方式： OAI收割

来源：沈阳自动化研究所

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