Yaw Control of an Unmanned Helicopter Using Adaptive Model Feedback and Error Compensation
Publication: Journal of Aerospace Engineering
Volume 29, Issue 2
Abstract
The yaw control problem of a prototype unmanned helicopter (UH) with novel configuration is addressed in this paper. The yaw control method based on adaptive model feedback and error compensation is proposed, which can achieve desired flight performance and guarantee the convergence of adjustable parameters in the presence of parametric uncertainties and measurement noises. Moreover, the adaptive error compensator with automatic fade-in and fade-out function can contribute greatly to reducing the tracking error in the initial stage of the adaptive learning process, and eliminate the adverse effect of measurement noises on the output of the adjustable system in the later stage. The effectiveness of the proposed controller is proved by a series of near-ground flight tests. The new methodologies proposed in this study are very effective control tools that help bridge the gaps between adaptive control theory and practical applications in high-performance UHs.
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Acknowledgments
This study was supported in part by National Natural Science Foundation of China (NSFC) (Grant No. 61374188), Aeronautical Science Foundation of China (Grant No. 2013ZC52033), Natural Science Foundation of Jiangsu Province of China (Grant No. BK20141412), and the Fundamental Research Funds for the Central Universities (China) (Grant No. NS2013032, 2013ZC52033, and NP2014601).
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Published In
Journal of Aerospace Engineering
Volume 29 • Issue 2 • March 2016
Copyright
© 2015 American Society of Civil Engineers.
History
Received: Oct 4, 2014
Accepted: Jul 29, 2015
Published online: Sep 21, 2015
Discussion open until: Feb 21, 2016
Published in print: Mar 1, 2016
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