Robust controller design of small-scale unmanned helicopter

Pei-zhi Liu; Zhi-qiang Bai; Jin-hua Wang

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Robust controller design of small-scale unmanned helicopter

机译：小型无人直升机的鲁棒控制器设计

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摘要

The common methods of robust control for unmanned helicopters are introduced in this paper. Based on modelling the attitude and motion of helicopter with dynamics equations, the controller is designed by loop shaping approach, which implements direct control on the forward and lateral velocities of helicopter. The simulation demonstrates satisfactory stability and robustness of the proposed controller.

机译：介绍了无人直升机的鲁棒控制常用方法。在利用动力学方程对直升机的姿态和运动进行建模的基础上，采用环整形方法设计了控制器，实现了对直升机的前，横向速度的直接控制。仿真证明了所提出控制器的令人满意的稳定性和鲁棒性。

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来源
《International Journal of Modelling, Identification and Control》 |2011年第2期|p.17-21|共5页
作者
Pei-zhi Liu; Zhi-qiang Bai; Jin-hua Wang;
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作者单位

Beijing Institute of Computer Application Technology,Beijing, 100089, China;

Beijing Institute of Computer Application Technology,Beijing, 100089, China;

Beijing Institute of Computer Application Technology,Beijing, 100089, China;

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原文格式 PDF
正文语种 eng
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关键词
unmanned helicopter; robust control; loop shaping;

机译：无人直升机鲁棒的控制;循环整形;

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专利

1. Parameter Identification and Design of a Robust Attitude Controller Using H_∞ Methodology for the Raptor E620 Small-Scale Helicopter [J] . Ho-Chan Kim, Hardian Reza Dharmayanda, Taesam Kang, International Journal of Control, Automation, and Systems . 2012,第1期

机译：基于H_∞方法的猛禽E620小型直升机鲁棒姿态控制器的参数辨识与设计
2. Parameter identification and design of a robust attitude controller using H_∞ methodology for the raptor E620 small-scale helicopter [J] . Ho-Chan Kim, Hardian Reza Dharmayanda, Taesam Kang, International Journal of Control, Automation and Systems . 2012,第1期

机译：基于H _{∞方法的猛禽E620小型直升机鲁棒姿态控制器的参数辨识与设计}
3. Quad-rotor unmanned helicopter control via novel robust terminal sliding mode controller and under-actuated system sliding mode controller [J] . Enhui Zheng, Jingjing Xiong Optik: Zeitschrift fur Licht- und Elektronenoptik: = Journal for Light-and Electronoptic . 2014,第12期

机译：通过新型鲁棒终端滑模控制器和欠驱动系统滑模控制器进行四旋翼无人直升机控制
4. Robust Controller Design of Small-Scale Unmanned Helicopter [C] . Liu Peizhi, Bai Zhiqiang, Wang Jinhua, International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)论文集 . 2008

机译：小型无人直升机的鲁棒控制器设计
5. Design of a nonlinear robust controller for a complete unmanned aerial vehicle mission. [D] . Sadraey, Mohammad Hashem. 2006

机译：用于完成完整的无人机任务的非线性鲁棒控制器的设计。
6. Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle [O] . Jiucai Jin, Jie Zhang, Deqing Liu 2018

机译：航向与速度耦合非线性控制器的设计与验证
7. System Identification and Design of a Robust Controller for a Small-scale Unmanned Helicopter [O] . Sheng-Dong YU, Li DING, Jin-Yu MA 2017

机译：用于小型无人直升机的强大控制器的系统识别与设计
8. Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-Objective Genetic Programming [R] . Barlow, G. J. 2004

机译：基于多目标遗传规划的无人机自主导航控制器设计

Robust controller design of small-scale unmanned helicopter

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