Adaptive Trajectory Linearization Control for a Model-Scaled Helicopter with Uncertain Inertial Parameters

摘要：

An adaptive approach based on Trajectory Linearization Control (TLC) is introduced to achieve the trajectory tracking of model-scaled helicopter with constant or slow time-varying model uncertainties. In the procedure of the controller designing, estimated parameters are applied to compensate for the uncertain inertial parameters (such as the mass and the inertial matrix) of the helicopter. Stability of the adaptive control system is proved in both constant and time-varying cases. Performances of the closed-loop system are verified by simulation results.

关键词： Trajectory linearization control helicopter control adaptive control nonlinear control

作者: ZHU Bing HUO Wei

作者单位: The Seventh Research Division, Beihang University, Beijing 100191, P. R. China Science and Technolog The Seventh Research Division, Beihang University, Beijing 100191, P. R. ChinaScience and Technology

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4389-4395

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）