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：

TransactionsofNanjingUniversityofAeronauticsandAstronautics | 2015年 / 32卷 / 01期

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

页码：29 / 34

页数：6

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