• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Aerospace and Electronic Systems, IEEE Transactions on >Multi-Timescale Nonlinear Robust Control for a Miniature Helicopter
【24h】

Multi-Timescale Nonlinear Robust Control for a Miniature Helicopter

机译：微型直升机的多时标非线性鲁棒控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A new nonlinear control approach, which is applied to a miniature aerobatic helicopter through a multi-timescale structure, is proposed. Because of the highly nonlinear, unstable, and underactuated nature of a miniature helicopter, it is a challenge to design an autonomous flight control system that is capable of operating in the full flight envelope. To deal with unstable internal dynamics, the translational, rotational, and flapping dynamics of the helicopter (eleven degrees of freedom) are organized into a three-timescale, nonlinear model. The concepts of dynamic inversion and sliding manifold are combined together such that 1) the controller proposed is robust with respect to functional and parametric uncertainties, and 2) the settling time in faster modes is guaranteed to be less than the fixed step size of slower modes. A time-varying feedback gain, derived according to global stability and sliding manifold variations, is proved to be uniquely solvable based on the Perron-Frobenius Theorem. Partial uncertainties are explicitly taken into account in the nonlinear robust control design, and Monte Carlo simulations are used for validations under other sensor noises, model uncertainties, and a Federal Aviation Administration suggested gust condition.
机译：提出了一种通过多时标结构应用于小型特技直升机的非线性控制方法。由于微型直升机的高度非线性，不稳定和驱动不足的特性，因此设计一种能够在全飞行范围内运行的自主飞行控制系统是一个挑战。为了处理不稳定的内部动力学，将直升机的平移，旋转和拍打动力学（11个自由度）组织为三时标非线性模型。动态反转和滑动流形的概念组合在一起，使得1）所提出的控制器在功能和参数不确定性方面具有鲁棒性，并且2）保证较快模式下的稳定时间小于较慢模式下的固定步长。根据Perron-Frobenius定理，根据整体稳定性和滑动流形变化得出的时变反馈增益是唯一可解的。在非线性鲁棒控制设计中明确考虑了部分不确定性，并且在其他传感器噪声，模型不确定性和美国联邦航空管理局建议的阵风条件下，将蒙特卡洛模拟用于验证。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号