On-line adaptive controller system used on small UAV

摘要：

　　Since Small Unmanned Helicopter flight attitude control process has strong time-varying characteristics,and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive ADRC control system is designed in this paper.An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules.The flight experiment showed that the proposed adaptive ADRC system provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight

关键词： small UAV on-line adaptive ADRC

作者: GAO Tongyue TANG Rui RAO Junjin LUO Jun GONG Zhenbang

作者单位: Department of Precision Mechanical Engineering Shanghai University,P.O.Box 108,Yanchang Road 149,Shanghai 200072,China

会议类型: 国际会议

会议名称: 2012 International Symposium on Safety Science and Technology (2012安全科学与技术国际会议)

会议地点: 南京

会议语种:英文

页码: 980-985

在线出版日期: 2012-10-23（万方平台首次上网日期，不代表论文的发表时间）