Enhanced LQR control for unmanned helicopter in hover

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Enhanced LQR control for unmanned helicopter in hover
	Jiang Z(姜哲); Han JD(韩建达); Wang YC(王越超); Song Q(宋崎)
	2006
会议名称	1st International Symposium on Systems and Control in Aerospace and Astronautics
会议日期	January 19-21, 2006
会议地点	Harbin, China
关键词	Real time adaptability is of central importance for the control of Unmanned Helicopter flying under different circumstances. In this paper an active model is employed to handle the time varying uncertainties involved in the helicopter dynamics during flight. In the scheme a normal LQR control designed from a simplified model at hovering is enhanced by means of Unscented-Kalman-Filter (UKF) based estimation which tries to online capture the error between the simplified model and the full dynamics. This is intended to achieve adaptive performance without the need of adjusting the controller modes or parameters along with the changing dynamics of helicopter. Simulations with respect to a model helicopter are conducted to verify both the UKF-based estimation and the enhanced LQR control. Results are also demonstrated with the normal LQR control with the active model enhancement.
页码	1438-1443
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Aerpsp & Elect Syst Soc, IEEE Ind Elect Soc, Amer Inst Aeronaut & Astronaut, China Space Agcy, China Aerosp Sci & Technol Corp, China Aerosp Sci & Ind Corp, Chinese Soc Aerosp, Asia Pacific Space Cooperat Org Secretariat, Harbin Inst Technol, Space Control & Inertial Technol Res Ctr
会议录	ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-9395-3
WOS记录号	WOS:000237415000302
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8688]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang Z,Han JD,Wang YC,et al. Enhanced LQR control for unmanned helicopter in hover[C]. 见:1st International Symposium on Systems and Control in Aerospace and Astronautics. Harbin, China. January 19-21, 2006.