Linear Tracking Control for Small-Scale Unmanned Helicopters
Linear Tracking Control for Small-Scale Unmanned Helicopters
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DOI：
10.1109/tcst.2011.2158213
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发表时间：
2012-07
影响因子：
4.8
通讯作者：
I. Raptis;K. Valavanis;G. Vachtsevanos
中科院分区：
文献类型：
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作者：
I. Raptis;K. Valavanis;G. Vachtsevanos
提出了一种基于模型的小型无人直升机跟踪控制设计方法。设计目标是使直升机跟踪预定义的惯性位置（或速度）和航向参考轨迹。该控制器是基于一个名义上的线性状态空间模型，成功地捕捉到小规模的直升机耦合多变量动态。飞行控制器由两个反馈回路组成，分别调节直升机横侧向和航向升沉运动的跟踪误差。根据直升机线性模型和参考输出，构造参考状态发生器，确定跟踪误差。状态发生器可以系统地设计使用反馈形式的系统的反推方法，并通过应用物理上有意义的近似线性直升机模型。控制器的性能成功地测试使用一个现实的飞行模拟器。
This paper presents a model-based tracking control design for small-scale unmanned helicopters. The design objective is for the helicopter to track predefined inertial position (or velocity) and heading reference trajectories. The controller is based on a nominal linear state-space model that successfully captures the small-scale helicopter coupled multivariable dynamics. The flight controller is composed of two feedback loops that regulate the tracking error of the longitudinal-lateral and heading-heave motion of the helicopter, respectively. The tracking error is determined by constructing a reference state generator based on the linear helicopter model and the reference outputs. The state generator can be systematically designed using the backstepping approach for systems in feedback form and by applying a physically meaningful approximation to the linear helicopter model. The controller performance is successfully tested using a realistic flight simulator.