System identification and robust stabilization using structured controller for a novel ducted fan flying robot

作者：Wang, Xiaoliang^*; Xiang, Changle; Xu, Bin; Fan, Wei

来源：Proceedings of the Institution of Mechanical Engineers - Part G: Journal of Aerospace Engineering , 2019, 233(1): 197-214.

DOI：10.1177/0954410017728970

• Ducted fan
• system identification
• non-smooth optimization
• structured controllers

This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional -integral -derivative (PID) controller.

• 出版日期2019-1
• 单位北京理工大学