Modeling and Control for a Small UAV Helicopter
Modeling and Control for a Small UAV Helicopter
- New search for: Liu, Peng
- New search for: Liu, Sheng Dong
- New search for: Zhao, Zhneg
- New search for: Liu, Jia Qi
A frequency identification modeling method for a small UAV helicopter and its control system design is presented. A modified frequency identification method for a state-space model of helicopter is presented. The overall concept is to extract a complete set of non-parametric input-to-output frequency responses that fully characterizes the coupled helicopter dynamics, conduct a nonlinear search based on secant method for a linear state-space model that matches the frequency-response data set. The accuracy of the identified model is verified by flight experiments. A path following controller is presented for an unmanned helicopter with two-loop control frame. The outer-loop is used to obtain the expected attitude angles through reference path and speed with guidance-based path following control, and the inner-loop is used to control the attitude angles of helicopter tracking the expected ones with loop shaping method. Finally, an 8 trajectory tracking simulation is conducted to illustrate the efficiency of the proposed control method.
Document information
Modeling and Control for a Small UAV Helicopter
Applied Mechanics and Materials ; 532 ; 70-73
2014-02-27
4 pages
Article (Journal)
Electronic Resource
English
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