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Unmanned helicopter location tracking method and apparatus

A technology of unmanned helicopters and equations, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems such as non-linear air damping and external interference, and achieve the effect of tracking

Inactive Publication Date: 2017-06-06
GUANGDONG UNIV OF TECH
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Problems solved by technology

However, their previously proposed identifiers are only suitable for aircraft without considering nonlinear air damping and external disturbances

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  • Unmanned helicopter location tracking method and apparatus
  • Unmanned helicopter location tracking method and apparatus
  • Unmanned helicopter location tracking method and apparatus

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Embodiment Construction

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0037] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] Next, a method for tracking the position of an unmanned helicopter provided by an embodiment of the present invention is described in detail. figure 1 It is a flowchart of a method for trackin...

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Abstract

The invention discloses an unmanned helicopter location tracking method and apparatus. The method includes determining the kinematic equation and kinetic equation of an unmanned helicopter according to the principles of aerodynamics and rigid mechanics; determining the linear velocity error differential equation of the unmanned helicopter according to the kinematic equation, the kinetic equation and the pre-set virtual controller equation; and determining the operation equation of an adaptive controller based on robust neural network according to the linear velocity error differential equation, wherein the operation equation of an adaptive controller includes robust adaptive parameters and neural network parameters. According to the robust adaptive parameter equation and the neural network parameter equation included in the adaptive law equation, the compensation of the external disturbance of the UAV can be realized, and the on-line estimation of the unknown parameters of the system can be realized, and therefore, the location of the unmanned helicopter can accurately calculated according to the operation equation of an adaptive controller under the conditions that system parameters are unknown and external disturbance occurs.

Description

technical field [0001] The invention relates to the technical field of unmanned helicopters, in particular to a method and device for tracking the position of an unmanned helicopter. Background technique [0002] Unmanned helicopters have gained a lot of attention in the past few years, thanks to their wide range of applications in life, such as aerial monitoring, data collection, mapping and rescue. Foreign researchers have done a lot of research on the control of unmanned helicopters and obtained some remarkable results. J.R.Azinheira, P.Rives et al. developed an image-based visual servo control system for autonomous hovering of aircraft in outdoor environments. In addition to hover control, Madani and Benallegue proposed a control method by changing the control input of a DC motor for a micro-quadrotor unmanned helicopter to track three desired Cartesian coordinate positions and yaw angles. However, in the previous research work, an assumption was put forward that the n...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘治周伟赖冠宇章云
Owner GUANGDONG UNIV OF TECH
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