<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>With the characteristics of input nonlinearity, time-varying parameters and the couplings between main and tail rotor, it is difficult for the yaw dynamics of Rotorcraft to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a new kind of robust controller design strategy based on active modeling technique is proposed to attenuate the uncertainties pre-described in the yaw control of unmanned systems. Firstly, by detailed analysis, the uncertainties are introduced into the new-designed yaw dynamics model by using the concept of modeling errors. Then, Kalman filter is used to estimate the modeling errors simultaneously, which is used subsequently to design the robust controller. Finally, the new strategy is tested with respect to the unmanned Rotorcraft system to show the feasibility and validity of it.</p>
</abstract>

With the characteristics of input nonlinearity, time-varying parameters and the couplings between main and tail rotor, it is difficult for the yaw dynamics of Rotorcraft to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a new kind of robust controller design strategy based on active modeling technique is proposed to attenuate the uncertainties pre-described in the yaw control of unmanned systems. Firstly, by detailed analysis, the uncertainties are introduced into the new-designed yaw dynamics model by using the concept of modeling errors. Then, Kalman filter is used to estimate the modeling errors simultaneously, which is used subsequently to design the robust controller. Finally, the new strategy is tested with respect to the unmanned Rotorcraft system to show the feasibility and validity of it.

Active Modeling Based Yaw Control of Unmanned Rotorcraft

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Active Modeling Based Yaw Control of Unmanned Rotorcraft"}

With the characteristics of input nonlinearity, time-varying parameters and the couplings between main and tail rotor, it is difficult for the yaw dynamics of...

Active Modeling Based Yaw Control of Unmanned Rotorcraft

Publicado en línea: 10 mar 2014

Páginas: 380 - 399

Recibido: 10 oct 2013

Aceptado: 02 feb 2014

DOI: https://doi.org/10.21307/ijssis-2017-661

© 2014 Yan Peng et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.