Supercharge Your Innovation With Domain-Expert AI Agents!

Model-free adaptive robust control method for small unmanned helicopter

A model-free adaptive, unmanned helicopter technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as unsatisfactory control accuracy, achieve compensation for model parameter uncertainty, and good control effect Effect

Active Publication Date: 2017-11-17
TIANJIN UNIV
View PDF7 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The tasks performed by unmanned helicopters are becoming more and more complex. Controls such as PID and LQR can no longer meet the requirements of control accuracy. We need to find out more effective nonlinear control algorithms to control UAVs, such as sliding film control, robust control, Neural network control, data-driven control, machine learning, etc., to complete more complex tasks

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Model-free adaptive robust control method for small unmanned helicopter
  • Model-free adaptive robust control method for small unmanned helicopter
  • Model-free adaptive robust control method for small unmanned helicopter

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] The technical solution adopted in the present invention is a model-free adaptive robust control method for small unmanned helicopters, the steps are as follows:

[0036] (1) Establish the coordinate system related to the small unmanned helicopter:

[0037] In order to facilitate the design of nonlinear controller and adaptive law, the following definitions are set:

[0038] The two coordinate systems are the inertial coordinate system {I} and the body coordinate system {B}, both of which satisfy the right-hand rule. The origin of the inertial coordinate system {I} is located on the ground, and the origin of the body coordinate system {B} is located on the drone centroid of {x I the y I z I} and {x B the y B z B} respectively represent the three main axes corresponding to the inertial coordinate system {I} and the body coordinate system {B};

[0039] (2) Establish the dynamic model between the UAV's use of the helicopter's lateral cyclic pitch change, longitud...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an unmanned aerial vehicle (UAV) control method and designs an adaptive law and nonlinear controller with good robustness and capable of compensating the uncertainty of a dynamic system for a small unmanned helicopter. A model-free adaptive robust control method for a small unmanned helicopter comprises the following steps of: designing a controller for adjusting and compensating the output data of the controller at the current time in real time according to attitude sampling data at a previous time and the output sampling data of the controller so as to achieve good small unmanned helicopter attitude control, wherein (1) establishing a small unmanned helicopter-related coordinate system: (2) establishing a dynamic module between the horizontal cyclic pitch, the vertical cyclic pitch, and the tail rotor collective pitch of the unmanned helicopter and the roll angle, the pitch angle and the yaw angle of the UAV; and (3) designing a nonlinear controller. The control method is mainly applied to the control of UAVs.

Description

technical field [0001] The present invention relates to a control method for unmanned aerial vehicles, in particular to a control method based on model-free adaptive control theory. Specifically, it involves a model-free adaptive robust control method for small unmanned helicopters. Background technique [0002] Small unmanned helicopters are special aircraft that can complete autonomous flight tasks without human driving. This type of aircraft has many characteristics such as vertical take-off and landing, low-altitude flight, etc., and has been widely used in various fields. At the same time, due to the characteristics of strong coupling, nonlinearity, and complex mathematical models of unmanned helicopters, it is difficult to analyze and model the dynamics of unmanned helicopters and design controllers. [0003] With the increasing application range of small unmanned helicopters, the research on control algorithms for small unmanned helicopters has become one of the hot...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 鲜斌潘晓龙
Owner TIANJIN UNIV
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com