Trajectory-tracking control for small unmanned helicopter based on SDRE
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所属单位：自动化学院
发表刊物：Dongnan Daxue Xuebao
摘要：Aiming at solving the problem of attitude stability and position tracking control of unmanned small scale helicopter, a state-dependent Riccati equation (SDRE) based trajectory tracking control method was proposed. Firstly, a 14 order dynamics model of the unmanned helicopter, including the main rotor flapping dynamic was established based on the Newton Euler equation and the rigid body theory. Secondly, the dynamics model was divided into a nested sequence of position, velocity, Euler angle, angular rate, and rotor dynamic loops, and equivalent transformations of the dynamics equation were made for each loop, rendering the system to satisfy specify conditions. On this basis, for a non-affine system, u, the differentiation of the control input u was introduced to be the new control input of the system, and u was regarded as the state variable. Finally, the proposed method was used for the Trex-250 helicopter. Simulation results show that the proposed method has better robustness and real-time performance on attitude and position control. © 2017, Editorial Department of Journal of Southeast University. All right reserved.
ISSN号：1001-0505
是否译文：否
发表时间：2017-11-20
合写作者：Qu, Youjie
通讯作者：吴庆宪