Active Modeling Based Yaw Control of Unmanned Rotorcraft

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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VOLUME 7 , ISSUE 1 (March 2014) > List of articles

Active Modeling Based Yaw Control of Unmanned Rotorcraft

Yan Peng * / Wenqing Guo / Mei Liu / Shaorong Xie

Keywords : Unmanned Rotorcraft, Active modeling technique, Model error, Kalman filter (KF).

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 7, Issue 1, Pages 380-399, DOI: https://doi.org/10.21307/ijssis-2017-661

License : (CC BY-NC-ND 4.0)

Received Date : 10-October-2013 / Accepted: 02-February-2014 / Published Online: 27-December-2017

ARTICLE

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.

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REFERENCES

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