Research on Control Algorithm for an Unmanned Helicopter Based on Global Asymptotic Stability

Run Xia Guo; Jiu Sheng Chen

doi:10.4028/www.scientific.net/AMM.195-196.977

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 195-196Research on Control Algorithm for an Unmanned...

Research on Control Algorithm for an Unmanned Helicopter Based on Global Asymptotic Stability

Abstract:

Taking into account the different response speed of each part of the unmanned helicopter(UMH), established a two-timescale nonlinear model which contained the flapping and rotational dynamics. To overcome the problem that a number of terms cant be accounted in the state-dependent Riccati equation (SDRE) design, we employed a nonlinear feedforward compensator that is designed to match the vehicle response to the model used in the SDRE design. We improved SDRE technique and set up a control algorithm can guarantee the global asymptotic stability of the system. Proof was given. Numerical simulation results were listed to illustrate effectiveness of the algorithm.

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Periodical:

Applied Mechanics and Materials (Volumes 195-196)

Pages:

977-983

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.195-196.977

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Online since:

August 2012

Authors:

Run Xia Guo, Jiu Sheng Chen

Keywords:

Feedforward Compensator, Global Asymptotic Stability, State-Dependent Riccati Equation (SDRE), Two-Timescale Model, Unmanned Helicopter (UMH)

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References

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