基于反馈线性化的无人直升机航向控制

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.

国家863计划资助项目(2003AA421020)