Robust adaptive single neural control for yaw angle with input nonlinearity on helicopter testbed

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	Robust adaptive single neural control for yaw angle with input nonlinearity on helicopter testbed
	Jiang Z(姜哲); Zhao XG(赵新刚); Han JD(韩建达); Wang YC(王越超)
	2006
会议名称	9th International Conference on Control, Automation, Robotics and Vision
会议日期	December 5-8, 2006
会议地点	Singapore, SINGAPORE
关键词	adaptive neural control yaw angle input nonlinearity helicopter testbed
页码	805-810
中文摘要	In this paper, we deal with the yaw control problem of a small-scale helicopter mounted on an experimental platform. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. An attractive control strategy that combines neural networks with traditional adaptive controls has been successfully used for yaw control with input nonlinearities. In contrast to conventional adaptation law, the sliding condition is taken as the objective function instead of the error function used in MIT rule. From the concept of the sliding mode control, the adaptive controller guarantees the stability of the closed-loop system and convergence of the output tracking error to a desired bound, even if the model parameters are unknown or in the presence of disturbance. The simulation results are further compared with those obtained by normal PID control to demonstrate the improvements of the proposed algorithm.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0341-7
WOS记录号	WOS:000246927401059
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8860]
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,Zhao XG,Han JD,et al. Robust adaptive single neural control for yaw angle with input nonlinearity on helicopter testbed[C]. 见:9th International Conference on Control, Automation, Robotics and Vision. Singapore, SINGAPORE. December 5-8, 2006.