Hybrid model of a subminiature helicopter in horizontal turn

作者：Chen, Li^*; Gong, Zhenbang; Liu, Liang

来源：High Technology Letters, 2007, 13(2): 113-118.

• Compensated neural network
• Horizontal turn
• Hybrid model
• Mechanism model
• Subminiature helicopter

A hybrid model of a subminiature helicopter in horizontal turn is presented. This model is based on a mechanism model and its compensated neural network (NN). First, the nonlinear dynamics of a subminiature helicopter is established. Through the linearization of the nonlinear dynamics on a trim point, the linear time-invariant mechanism model in horizontal turn is obtained. Then a diagonal recursive neural network is used to compensate the model error between the mechanism model and the nonlinear model, thus the hybrid model of a subminiature helicopter in horizontal turn is achieved. Simulation results show that the hybrid model has higher accuracy than the mechanism model and the obtained compensated-NN has good generalization capability.

• 出版日期2007
• 单位上海大学; 上海交通大学