Hovering Control of Unmanned Small Size Helicopter Based on Adaptive Inverse Control Theory

摘要：

Adaptive inverse control (AIC) theory is introduced to inhibit interferences such as side wind during hovering control for small-sized unmanned helicopter. Based on this theory, an AIC control block diagram is improved to accommodate with the characteristics of helicopter hovering model and robust design. According to structure and fundamental theory of small-sized unmanned helicopter, a hover flight experimental platform is built. Also, the translation equations and the rotation equations are derived by the Kane Equation. Recursive least square (RLS) method is used to identify the parameters and design the controller. The experimental results show that, In terms of interference elimination, AIC-RLS method is better than PID controller. The realization of open-air hovering control on flight experimental platform demonstrates the method presented in this paper is effective.

关键词： small-sized unmanned helicopter dynamical modeling adaptive inverse control(AIC) recursive least square(RLS) algorithm hovering control side wind flight experimental platform

作者: LI Jin-song CAO Xi YAN Guo-zheng SONG Li-bo

作者单位: School of Electronic Information and Electrical Engineering Eng. Training Center,Shanghai JiaoTong U School of Electronic Information and Electrical Engineering Eng. Training Center,Shanghai JiaoTong University,Shanghai 200240, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 804-810

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）