【摘 要】
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Attitude tracking control problem for unmanned helicopter (UH) is investigated in this paper.Considering the influence of model uncertainties and external distu
【出 处】
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2014中国制导、导航与控制学术会议
论文部分内容阅读
Attitude tracking control problem for unmanned helicopter (UH) is investigated in this paper.Considering the influence of model uncertainties and external disturbances,a strong adaptive attitude tracking controller is proposed.To reduce attitude tracking error and acquire expected flying qualities,the controller adopts a dual-model structure,which simplifies design of the control law by separating model tracking parameters design from adaptive control.In addition,the convergence rate of adaptive parameters is accelerated obviously as a result of introducing a linear compensator,and the effect of sensor noise on adaptive parameters adjustment is reduced effectively by a state filter.Numerical simulations illustrate the effectiveness and feasibility of this attitude control.
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