Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters

被引：0
|
作者：
Jiang C. [1 ]
Wang H.-W. [1 ]
Li J.-K. [1 ]
Li L.-J. [1 ]
机构：
[1] School of Aerospace Engineering, Tsinghua University, Beijing
来源：
Wang, Hao-Wen (bobwang@mail.tsinghua.edu.cn) | 1743年 / Science Press卷 / 39期
关键词：
Active disturbance rejection control; Adaptive control; Flight control; Neural network; Unmanned helicopter;
D O I：
10.13374/j.issn2095-9389.2017.11.018
中图分类号：
学科分类号：
摘要：
To enable unmanned helicopters to fly autonomously in precise paths and to reduce the influence of helicopter dynamic model error, this paper proposes a hybrid controller with active disturbance rejection control (ADRC) and adaptive control for trajectory tracking. This paper proposes the model reference adaptive control strategy for the inner-loop controller. This paper uses the momentum back-propagation (MOBP) neural network algorithm to tune the parameters of the proposed inner-loop controller. This paper uses ADRC in the proposed controller for velocity control. The simulation results indicate that the proposed controller can achieve good trajectory tracking. Compared with the PID controller and cascade ADRC, the proposed hybrid controller is more robust and has better anti-disturbance capability. This paper uses the proposed hybrid controller for trajectory-tracking control of the XV-2, which is an unmanned helicopter with a gross take-off weight level of 200 kg. With the help of the hybrid controller in our flight test, the root mean square error of the XV-2 trajectory-tracking control is within 0.6 m. © All right reserved.
引用
收藏
页码：1743 / 1752
页数：9
相关论文
共 26 条
  • [1] Nonami K., Prospect and recent research & development for civil use autonomous unmanned aircraft as UAV and MAV, J Syst Des Dyn, 1, 2, (2007)
  • [2] Sato A., The RMAX Helicopter UAV
  • [3] Xia B., Huang Y.M., Sun C.Z., Research of automatic take-off /landing height control technology for unmanned helicopter, J Ordnance Equip Eng, 37, 3, (2016)
  • [4] Budiyono A., Wibowo S.S., Optimal tracking controller design for a small scale helicopter, J Bionic Eng, 4, 4, (2007)
  • [5] Kung C.C., Yang C.D., Chiou D.W., Et al., Nonlinear H<sub>∞</sub> helicopter control, Proceedings of the 41st IEEE Conference on Decision and Control, (2002)
  • [6] Walter L., Fleischmann S., Schloffel G., Et al., Real-time optimal gain scheduling for nonlinear dynamic inversion, AIAA Guidance, Navigation, and Control Conference, (2014)
  • [7] Krol D., Lower M., Szlachetko B., Selection and setting of an intelligent fuzzy regulator based on nonlinear model simulations of a helicopter in hover, New Generation Computing, 27, 3, (2009)
  • [8] Yu M.Q., Xu J.F., Liu J.Y., Control design and simulation for unmanned helicopter, Control Theory Appl, 29, 6, (2012)
  • [9] Han J.Q., Auto disturbances rejection control technique, Frontier Science, 1, (2007)
  • [10] Tan L., Jia P.F., Active-disturbance-rejection control of a small autonomous helicopter, Robot, 31, 5, (2009)
123