Earticle

초록

영어

This paper presents a design of three channel controller based on active disturbance rejection control which has a fast response, high control precision, good robustness, strongly adaptability. This design approach does not need accurate mathematics model of the small unmanned helicopter. Input-output feedback linearization is intended primarily for the system output and system control input to establish a direct relation. The final aim is to develop a robust tracking control scheme which ensures that the outputs of closed-loop system track the given expectations. There results of simulations show the satisfactory tracking performance and the great ability to suppress disturbances.

목차

Abstract
 1. Introduction
 2. Helicopter Nonlinear Model
  2.1. Reference Frame
  2.2. The Force Analysis of Small Unmanned Helicopter
  2.3. 6-DOF Rigid Body Dynamics Equations of the Small-scale Unmanned Helicopter
 3. The Controller Design Outline
  3.1. The Principle of ADRC
  3.2. Input-output Feedback Linearization
  3.3. The Design of Three Channel ADRC
 4. Simulation Results
  4.1. Adjustment of the Parameters of ADRC
 5. Conclusion
 Acknowledgements
 References

키워드

저자

• Zhigang Yu [ Key lab of Electronic Engineering, College of Heilongjiang Province, Harbin, Heilongjiang, China, Harbin Institute of Technology, Harbin, Heilongjiang, China ]
• Guiying Li [ School of Mechanical and Electrical Engineering, Heilongjiang University, Harbin, Heilongjiang, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605