Robust Tracking Control for 3 DOF Helicopter based on Least Squares Support Vector Machine

摘要：

　　A robust tracking control method for 3 DOF helicopter via least squares support vector machine with considering uncertainty and bounded disturbance is proposed in this paper.The inversion errors which is brought due to modeling errors and uncertainty can be compensated by least squares support vector machine,and the optimal regulator guaranteed dynamic characteristics of approximate linearization system and response quality of tracking error dynamic.Finally,the stability and convergence analysis of error dynamic system is proven by Lyapunov stability theory and numerical simulations have demonstrated the effectiveness of the proposed approach.

关键词： 3-DOF helicopter Nonlinear systems Support vector machine Robust control

作者: ZHANG Jingmei XUE Lei ZHANG Ruimin SUN ChangYin

作者单位: School of Automation,Southeast University,Nanjing,210096,China

会议类型: 国际会议

会议名称: 2012 2nd International conference on Machinery Electronics and Control Engineering (2012年第二届国际机械电子与控制工程会议(ICMECE 2012))

会议地点: 济南

会议语种:英文

页码: 370-373

在线出版日期: 2012-12-29（万方平台首次上网日期，不代表论文的发表时间）