Multi-Timescale SDRE Control for an Unmanned Helicopter

摘要：

This paper proposes an improved state-dependent Riccati equation (SDRE) attitude control approach which is applied to an unmanned helicopter (UMH) through a multitimescale structure.To deal with inherent unstable internal dynamics,the flapping and rotational dynamics of the helicopter are organized into a two-timescale nonlinear model.To overcome the problem that a number of terms cant be accounted in the SDRE design,we employ a nonlinear feedforward compensator that is designed to match the vehicle response to the model used in the SDRE design.To overcome the feedforward compensators disadvantage of being directly affected by parametric disturbances,we improve the design method and add a proportion+ integral (PI) controller.SDRE is solved by θ -D method.The simulation results show satisfactory tracking performance of the designed control system.

关键词： unmanned helicopter (UMH) multi-timescale model state-dependent Riccati equation (SDRE) improved feedforward compensator nonlinear control

作者: Runxia GUO Aiguo WU Jiusheng CHEN

作者单位: School of Electrical Engineering & Automation Tianjin University Tianjin,China Aeronautic Automation School of Electrical Engineering & Automation Tianjin University Tianjin,China Aeronautic Automation College Civil Aviation University of China Tianjin,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 516-520

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）