Trajectory-tracking control for small unmanned helicopter based on SDRE

被引：0

作者：

Qu Y. ^{[1
]}

Wu Q. ^{[1
]}

机构：

[1] School of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing

来源：

Wu, Qingxian (wuqingxian@nuaa.edu.cn) | 1600年 / Southeast University卷 / 47期

关键词：

Flapping dynamic; State-dependent Riccati equation(SDRE); Tracking control; Unmanned helicopter;

D O I：

10.3969/j.issn.1001-0505.2017.S1.038

中图分类号：

学科分类号：

摘要：

Aiming at solving the problem of attitude stability and position tracking control of unmanned small scale helicopter, a state-dependent Riccati equation (SDRE) based trajectory tracking control method was proposed. Firstly, a 14 order dynamics model of the unmanned helicopter, including the main rotor flapping dynamic was established based on the Newton Euler equation and the rigid body theory. Secondly, the dynamics model was divided into a nested sequence of position, velocity, Euler angle, angular rate, and rotor dynamic loops, and equivalent transformations of the dynamics equation were made for each loop, rendering the system to satisfy specify conditions. On this basis, for a non-affine system, u, the differentiation of the control input u was introduced to be the new control input of the system, and u was regarded as the state variable. Finally, the proposed method was used for the Trex-250 helicopter. Simulation results show that the proposed method has better robustness and real-time performance on attitude and position control. © 2017, Editorial Department of Journal of Southeast University. All right reserved.

引用

页码：205 / 210

页数：5

共 12 条

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