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
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[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...
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