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Enhanced LQR control for unmanned helicopter in hover

文献类型：会议论文

作者Jiang Z(姜哲); Han JD(韩建达); Wang YC(王越超); Song Q(宋崎)
出版日期2006
会议名称1st International Symposium on Systems and Control in Aerospace and Astronautics
会议日期January 19-21, 2006
会议地点Harbin, China
关键词Real time adaptability is of central importance for the control of Unmanned Helicopter flying under different circumstances. In this paper an active model is employed to handle the time varying uncertainties involved in the helicopter dynamics during flight. In the scheme a normal LQR control designed from a simplified model at hovering is enhanced by means of Unscented-Kalman-Filter (UKF) based estimation which tries to online capture the error between the simplified model and the full dynamics. This is intended to achieve adaptive performance without the need of adjusting the controller modes or parameters along with the changing dynamics of helicopter. Simulations with respect to a model helicopter are conducted to verify both the UKF-based estimation and the enhanced LQR control. Results are also demonstrated with the normal LQR control with the active model enhancement.
页码1438-1443
收录类别EI ; CPCI（ISTP）
产权排序1
会议主办者IEEE Aerpsp & Elect Syst Soc, IEEE Ind Elect Soc, Amer Inst Aeronaut & Astronaut, China Space Agcy, China Aerosp Sci & Technol Corp, China Aerosp Sci & Ind Corp, Chinese Soc Aerosp, Asia Pacific Space Cooperat Org Secretariat, Harbin Inst Technol, Space Control & Inertial Technol Res Ctr
会议录ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2
会议录出版者IEEE
会议录出版地NEW YORK
语种英语
ISBN号0-7803-9395-3
WOS记录号WOS:000237415000302
源URL[http://ir.sia.cn/handle/173321/8688]  
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		 Jiang Z,Han JD,Wang YC,et al. Enhanced LQR control for unmanned helicopter in hover[C]. 见:1st International Symposium on Systems and Control in Aerospace and Astronautics. Harbin, China. January 19-21, 2006.

入库方式： OAI收割

来源：沈阳自动化研究所

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