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Adaptive nonlinear control system design for helicopter robust command augmentation

机译：直升机鲁棒指令增强的自适应非线性控制系统设计

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摘要

In this paper, the design and evaluation of a helicopter trajectory tracking controller are presented. The control algorithm is implemented using the feedback linearization technique and the two time-scale separation architecture. In addition, an on-line adaptive architecture that employs a Sigma-Pi neural network, which is simple in its structure so that it is easily applicable to on-line adaptation, compensating the model inversion error caused by the deficiency of full knowledge of helicopter dynamics is applied to augment the attitude control system. Trajectory tracking performance of the control system is evaluated using a generic helicopter model simulation program. It is shown that the on-line neural network in an adaptive control architecture is very effective in dealing with the performance degradation problem of the trajectory tracking control caused by insufficient information of dynamics.
机译：本文提出了一种直升机轨迹跟踪控制器的设计与评估。该控制算法是使用反馈线性化技术和两个时标分离架构实现的。此外，采用了Sigma-Pi神经网络的在线自适应架构，其结构简单，因此很容易应用于在线自适应，从而弥补了由于直升机知识不足而引起的模型反演误差。动力学用于增强姿态控制系统。使用通用的直升机模型仿真程序评估控制系统的轨迹跟踪性能。结果表明，自适应控制体系结构中的在线神经网络在解决由于动力学信息不足而导致的轨迹跟踪控制性能下降方面非常有效。

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