Longitudinal and Lateral Adaptive Flight Control Design for an Unmanned Helicopter with Coaxial Rotor and Ducted Fan
In this paper,Lyapunov-based adaptive attitude control and adaptive longitudinal displacement control methods are designed and implemented for a prototype unmanned helicopter with coaxial rotor and ducted fan configuration.The prototype has longitudinal and lateral symmetry with strong coupling between longitudinal and lateral channels and weak coupling between altitude-heading and longitudinal-lateral channels.Attitude and longitudinal reference models are designed with longitudinal and lateral channel properly decoupled.Real time near-ground flight test results show that longitudinal displacement tracking error is minimum,and the prototype achieves good performance in adaptive decoupling and tracking control as flight speed changes smoothly.
adaptive control decoupling unmanned helicopter flight test
Sheng Shouzhao Sun Chenwu Duan Haibin Jiang Xiaoliang Zhu Yansong
College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,China,210016 School of Automation Science and Electrical Engineering,BeiHang University,China,100191
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
130-135
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）