Nonlinear Intelligent Flight Control for Quadrotor Unmanned Helicopter

被引：2
|
作者：
甄子洋 [1 ]
浦黄忠 [2 ]
陈琦 [1 ]
王新华 [1 ]
机构：
[1] College of Automation Engineering,Nanjing University of Aeronautics and Astronautics
[2] UAV Research Institute,Nanjing University of Aeronautics and Astronautics
来源：
Transactions of Nanjing University of Aeronautics and Astronautics | 2015年 / 32卷 / 01期
基金：
中央高校基本科研业务费专项资金资助; 中国国家自然科学基金;
关键词：
quadrotor unmanned helicopter; flight control; brain emotional learning(BEL); intelligent control;
D O I：
10.16356/j.1005-1120.2015.01.029
中图分类号：
V249.1 [飞行控制]; V279 [无人驾驶飞机];
学科分类号：
081105 ; 1111 ;
摘要：
Quadrotor unmanned helicopter is a new popular research platform for unmanned aerial vehicle(UAV),thanks to its simple construction,vertical take-off and landing(VTOL)capability.Here a nonlinear intelligent flight control system is developed for quadrotor unmanned helicopter,including trajectory control loop composed of co-controller and state estimator,and attitude control loop composed of brain emotional learning(BEL)intelligent controller.BEL intelligent controller based on mammalian middle brain is characterized as self-learning capability,model-free and robustness.Simulation results of a small quadrotor unmanned helicopter show that the BEL intelligent controller-based flight control system has faster dynamical responses with higher precision than the traditional controller-based system.
引用
收藏
页码：29 / 34
页数：6
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