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초록
영어
This paper presents a design of three channel controller based on active disturbance rejection control which has a fast response, high control precision, good robustness, strongly adaptability. This design approach does not need accurate mathematics model of the small unmanned helicopter. Input-output feedback linearization is intended primarily for the system output and system control input to establish a direct relation. The final aim is to develop a robust tracking control scheme which ensures that the outputs of closed-loop system track the given expectations. There results of simulations show the satisfactory tracking performance and the great ability to suppress disturbances.
목차
Abstract
1. Introduction
2. Helicopter Nonlinear Model
2.1. Reference Frame
2.2. The Force Analysis of Small Unmanned Helicopter
2.3. 6-DOF Rigid Body Dynamics Equations of the Small-scale Unmanned Helicopter
3. The Controller Design Outline
3.1. The Principle of ADRC
3.2. Input-output Feedback Linearization
3.3. The Design of Three Channel ADRC
4. Simulation Results
4.1. Adjustment of the Parameters of ADRC
5. Conclusion
Acknowledgements
References
1. Introduction
2. Helicopter Nonlinear Model
2.1. Reference Frame
2.2. The Force Analysis of Small Unmanned Helicopter
2.3. 6-DOF Rigid Body Dynamics Equations of the Small-scale Unmanned Helicopter
3. The Controller Design Outline
3.1. The Principle of ADRC
3.2. Input-output Feedback Linearization
3.3. The Design of Three Channel ADRC
4. Simulation Results
4.1. Adjustment of the Parameters of ADRC
5. Conclusion
Acknowledgements
References
저자정보
참고문헌
자료제공 : 네이버학술정보