机构地区: 中国科学院沈阳自动化研究所机器人学重点实验室
出 处: 《机器人》 2007年第3期193-199,共7页
摘 要: 本文着重解决小型无人直升机航向自适应控制问题.通过求非线性函数导数,把原始系统扩展为一个带有伪状态变量的新系统.这种方法不必求解非线性函数的逆,并且降低了计算量.证明了该方法的稳定性.针对实际模型直升机实验平台航向动力学模型,仿真结果表明了该方法的有效性. This paper discusses adaptive yaw control of small-size unmanned helicopter. By solving the derivative of nonlinear function, the original system is extended to a new system with a pseudostate variable. This approach doesn't need to solve the inverse of nonlinear function and reduces the calculation cost. Stability of the proposed algorithm is proved, and simulation results on the dynamic model of a real helicopter-on-arm testbed demonstrate the effectiveness of the proposed algorithm.
领 域: [自动化与计算机技术] [自动化与计算机技术]