Feedback control for yaw angle with input nonlinearity via input-state linearization
文献类型：会议论文
| 作者 | Jiang Z(姜哲); Qi JT(齐俊桐) ; Zhao XG(赵新刚); Wang H(王贺); Han JD(韩建达); Wang YC(王越超)
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| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2006) |
| 会议日期 | December 17-20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | dynamics feedback linearization input nonlinearity helicopter yaw angle |
| 页码 | 323-328 |
| 通讯作者 | 姜 |
| 中文摘要 | This paper discusses the yaw control of small-size unmanned helicopter. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal PID control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a valid control is proposed by applying the derivative of the nonlinear function, the original system is to be extended si new system with a pseudostate variable. This approach makes it possible to avoid using the inverse of the nonlinear function and reduces the calculation load. The simulation results further demonstrate the improvements of the proposed algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ |
| 会议录 | 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0570-1 |
| WOS记录号 | WOS:000245907300056 |
| 源URL | [http://ir.sia.cn/handle/173321/8712]  |
| 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,Qi JT,Zhao XG,et al. Feedback control for yaw angle with input nonlinearity via input-state linearization[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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