Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope

被引：45

作者：

Song, Dalei ^{[1
]}

Han, Jianda ^{[1
]}

Liu, Guangjun ^{[2
]}

机构：

[1] Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China

[2] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2013年 / 21卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Active model-based control; modeling error elimination; predictive control; unmanned helicopter; SYSTEMS;

D O I：

10.1109/TCST.2012.2208968

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：1502 / 1509

页数：8

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