An Attitude Control Method of Unmanned Helicopter Based on Adaptive Output Feedback
The unmanned helicopter exhibits a complex andnonlinear dynamic behavior and open-loop unstable.This paper describes a attitude control method basedon adaptive output feedback for an unmannedhelicopter.First,it is assumed that the controlledsystem satisfies the output feedback linearizationconditions.Second,the approximate model of thesystem is considered as the diffeomorphism of thesystem.Then,a linear controller and adaptive neuralnetworks are designed to cancel the model errorsproduced by nonlinear,uncertainty and disturbance.Finally,the boundedness of tracking errors and weighterrors are studied with Lyapunov stability theorem.The application results of an unmanned helicoptershow that the proposed controller can not only cancelthe dynamical error effectively but also improvetracking performance of the attitude control system.
Jiande Wu Guoyong Huang Yugang Fan
School of Information Engineering and Automation,Kunming University of Science and Technology,Kunmin Institute of Technology,Kunming University of Science and Technology,Kunming 650093
国际会议
厦门
英文
748-753
2008-11-17（万方平台首次上网日期，不代表论文的发表时间）