Autonomous Flight Control System Designed for Small-Scale Helicopter Based on Approximate Dynamic Inversion

摘要：

This paper describes the development of an autonomous flight control system for small-scale unmanned helicopter based on approximate dynamic inversion (ADI) method. The flight controller consists of inner-loop attitude control, mid-loop velocity control and outer-loop position control. Previous researches have shown that for minimum-phase, nonaffine-in-control system, Proportional-Integral (PI) controller is an equivalent realization of ADI control law in time response. In this paper, we also design a PI controller to verify this statement in the Yamaha R50 UAV helicopter model and then compare the two control methods performance and features using flight data obtained in simulation. Simulation results show that both ADI and PI control approaches achieve excellent performance. The autonomous flight control system designed in this paper successfully drives the helicopter to fly autonomously and execute flight missions.

关键词： UAV Helicopter Flight Control Approximate Dynamic Inversion Proportional-Integral

作者: Zhiyang Zhang Fei Hu Jian Li

作者单位: School of Software Shanghai Jiao Tong University Shanghai 200240, China

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Advanced Computer Control(2011年IEEE第三届高端计算机控制国际会议 ICACC2011)

会议地点: 哈尔滨

会议语种:英文

页码: 185-191

在线出版日期: 2011-01-18（万方平台首次上网日期，不代表论文的发表时间）