Nonlinear controller design and stability analysis for a small-scale unmanned helicopter with flapping dynamics
In the present paper,for a small-scale unmanned helicopter,the nonlinear controllers with guaranteeing stability of the controlled system are designed.The dynamics of the small-scale unmanned helicopter can be divided into slower outer-loop and faster inner-loop,thus exhibiting hierarchical structure.Attitude angle and position of the small-scale unmanned helicopter separately belongs to the inner-loop and the outer-loop.The backstepping control strategy is respectively applied in the inner-loop and the outer-loop to obtain the the nonlinear controllers.Furthermore,stability analysis of orientation dynamics and flapping dynamics is presented.The comparison between linear and nonlinear control methods are discussed in the simulation model to show the effectiveness of the proposed method.
UAV small-scale unmanned helicopter flapping dynamics backstepping
Lin Zhang Mei Wang
School of Electrical and Control Engineering,Xi”an University of science and technology,Xi”an,China
国内会议
全球智能工业创新大会暨全球创新技术成果转移大会(GIIC2018)——2018智能无人系统大会
北京
英文
1-13
2018-05-22（万方平台首次上网日期，不代表论文的发表时间）