Active modeling based yaw control of unmanned Rotorcraft

作者：Peng Yan^*; Guo Wenqing; Liu Mei; Xie Shaorong

来源：International Journal on Smart Sensing and Intelligent Systems, 2014, 7(1): 380-399.

DOI：10.21307/ijssis-2017-661

• Active modeling
• Input non linearities
• Model errors
• Robust controller design
• Stability and robustness
• Time varying parameter
• Tracking performance
• Unmanned rotorcrafts

With the characteristics of input nonlinearity, time-varying parameters and the couplings between main and tail rotor, it is difficult for the yaw dynamics of Rotorcraft to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a new kind of robust controller design strategy based on active modeling technique is proposed to attenuate the uncertainties pre-described in the yaw control of unmanned systems. Firstly, by detailed analysis, the uncertainties are introduced into the new-designed yaw dynamics model by using the concept of modeling errors. Then, Kalman filter is used to estimate the modeling errors simultaneously, which is used subsequently to design the robust controller. Finally, the new strategy is tested with respect to the unmanned Rotorcraft system to show the feasibility and validity of it.

• 出版日期2014
• 单位上海大学