Feedback linearization of the nonlinear model of a small-scale helicopter

被引：13
|
作者：
Song B. [1 ]
Liu Y. [2 ]
Fan C. [1 ]
机构：
[1] College of Electronic Science and Engineering, National University of Defense Technology
[2] Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
来源：
Journal of Control Theory and Applications | 2010年 / 8卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Feedback linearization; Model helicopter; Nonlinear model;
D O I：
10.1007/s11768-010-0017-8
中图分类号：
学科分类号：
摘要：
In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristics of a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hovering control is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear system using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinear controller. © 2010 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：301 / 308
页数：7
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