Small unmanned helicopter flight controller design by use of integral MPC and adaptive backstepping

摘要：

Considering the structural features of unmanned helicopters, the present paper designs a hierarchical inner-outer loopbased flight controller. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of adaptive backstepping techniques that allow stabilization of the attitude. The obtained control method takes advantage of both controllers and it is simple and easy to implement in future real flight test. Finally, the computer simulations are conducted to illustrate the tracking performance of the proposed control method in the presence of disturbances and model errors.

关键词： Helicopter Integral MPC Adaptive backstepping

作者: Hongbo Zhou Hailong Pei Yuebang He

作者单位: Hunan Institute of Science and Technology, Yueyang, 414006, China College of Automation Science and Engineering, South China University of Technology, Guangzhou, 5106

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: 312-317

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）