Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope
文献类型：期刊论文
| 作者 | Song DL(宋大雷) ; Han JD(韩建达); Liu GJ(刘光军)
|
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2013 |
| 卷号 | 21期号:4页码:1502-1509 |
| 关键词 | Active model-based control modeling error elimination predictive control unmanned helicopter |
| ISSN号 | 1063-6536 |
| 产权排序 | 1 |
| 通讯作者 | 宋大雷 |
| 中文摘要 | For the control of unmanned helicopters in full flight envelope, an active model based predictive control scheme is developed in this brief. Dynamics in full envelope is modeled, with uncertainties represented by the system model error and process noise. The model error depends on both helicopter dynamics and flight mode, and the process noise is assumed unknown but bounded. Based on the set-membership filter, an active modeling based stationary increment predictive control, based on the estimated model error and its boundary to optimally compensate the model error, as well as the aerodynamics time delay, is proposed. The proposed method has been implemented on the ServoHeli-40 unmanned helicopter platform and experimentally tested; the results have demonstrated its effectiveness. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | NONLINEAR-SYSTEMS |
| 收录类别 | SCI ; EI |
| 资助信息 | National Natural Science Foundation of China [61035005]; National Key Technology RD Program [2011BAD20B07]; National High Technology Research and Development Program (863) [2012AA041501] |
| 语种 | 英语 |
| WOS记录号 | WOS:000320717600046 |
| 公开日期 | 2013-10-05 |
| 源URL | [http://ir.sia.cn/handle/173321/12546]  |
| 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 | Song DL,Han JD,Liu GJ. Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2013,21(4):1502-1509. |
| APA | Song DL,Han JD,&Liu GJ.(2013).Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,21(4),1502-1509. |
| MLA | Song DL,et al."Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 21.4(2013):1502-1509. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。