Performance recovery of nonlinear model helicopter using extended high gain observer

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

	Performance recovery of nonlinear model helicopter using extended high gain observer
	Wang Z(王争); He YQ(何玉庆); Han JD(韩建达)
	2009
会议名称	2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. ICIS 2009
会议日期	November 20-22, 2009
会议地点	Shanghai, China
页码	45-50
通讯作者	王争
中文摘要	Nonlinear control methods are difficult to work on an unmanned helicopter system for its inherently unstable, high-order, and cross-coupled dynamic characters. In order to use experienced linear control methods on nonlinear helicopter system, in this paper, approximate feedback linearization method is used to linearize the nonlinear helicopter system by neglecting the coupling term. Then, we introduce an extended high gain observer to estimate the outputs and their derivatives for rejecting the coupled disturbance. Combining this observer and any linear control strategy the nonlinear helicopter system would be not only to achieve stabilization or regulation, but also to shape the transient response. The main contribution of this method, comparing with other exiting high gain disturbance rejection methods, is in proving transient performance recovery and not just asymptotic stabilization or regulation. Based on the method proposed in this paper, a nonlinear helicopter can be converted into an easily controllable linear system.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. ICIS 2009
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-4244-4754-1
WOS记录号	WOS:000284917600011
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8827]
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	Wang Z,He YQ,Han JD. Performance recovery of nonlinear model helicopter using extended high gain observer[C]. 见:2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. ICIS 2009. Shanghai, China. November 20-22, 2009.