广东工业大学学报 ›› 2010, Vol. 27 ›› Issue (2): 1-5.

• 综合研究 •    下一篇

小型无人直升机航向的双线性控制

  

  1. 广东工业大学自动化学院，广东广州510090
  • 出版日期:2010-06-25 发布日期:2010-06-25
  • 作者简介:杨玲玲(1978-)，女，讲师，博士研究生，主要研究方向为非线性控制．
  • 基金资助:

    国家自然科学基金资助项目(U0735003，60974047)；教育部博士点基金资助项目(20070562005)；广东省基金团队项目(8351009001000002)

Bilinear Control over the Yaw Control of Small-scale Unmanned Helicopters

  1. Faculty of Automation，Guangdong University of Technology，Guangzhou 5 10090，China
  • Online:2010-06-25 Published:2010-06-25

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摘要： 提出一种基于偏差分离的双线性控制策略，并将其应用到小型无人直升机的航向控制中．双线性控制策略把系统模型分解为两部分：线性模型和不确定项．用偏差分离结构获取不确定项的信息．控制器也由两部分组成，一部分根据线性模型设计常规线性控制器；另一部分则基于不确定项的信息设计线性补偿控制器．仿真结果表明了所提出的双线性控制策略的有效性．

关键词: 双线性控制；偏差分离；无人直升机；航向控制

Abstract: Bilinear control strategy based on model bias separation is proposed，and it is applied to the yaw control of small-scale unmanned helicopters．The system model is divided into two parts：linear mode1 and uncertainty． The information of uncertainty is online obtained by the novel structure of model bias separation． The c0ntroller is the integration of a conventional linear controller with a linear compensator． The simulation resuits verify the effectiveness of the proposed bilinear control strategy．

Key words: bilinear control；model bias separation；unmanned helicopter：yaw control

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