Model Identification and Active Modeling Control for Small-Size Unmanned Helicopters: Theory and Experiment

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	Model Identification and Active Modeling Control for Small-Size Unmanned Helicopters: Theory and Experiment
	Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达)
	2010
会议名称	2010 AIAA Guidance, Navigation, and Control Conference
会议日期	August 2-5, 2010
会议地点	Toronto, Canada
页码	21pp.
中文摘要	In this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An enhanced identification algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. Based on adaptive set-membership filter and the built model, this paper also presents a strategy of model-error estimation and elimination to solve the impact of model mismatch in real flight. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. Using the identified model for hovering as the nominal model, the developed strategy is tested on SERVOHELI-40 UAV platform through real flight experimentation. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain, and that proposed strategy for the estimation and elimination of the model-error is feasible and practical for the flight control of unmanned helicopters in full flight envelope.
收录类别	EI
产权排序	1
会议主办者	AIAA
会议录	AIAA Guidance, Navigation, and Control Conference
会议录出版者	AIAA
会议录出版地	Reston, VA
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8777]
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	Song DL,Qi JT,Han JD. Model Identification and Active Modeling Control for Small-Size Unmanned Helicopters: Theory and Experiment[C]. 见:2010 AIAA Guidance, Navigation, and Control Conference. Toronto, Canada. August 2-5, 2010.