On-line adaptive controller system used on small UAV

被引：5

作者：

Gao Tongyue ^{[1
]}

Tang Rui ^{[1
]}

Rao Junjin ^{[1
]}

Luo Jun ^{[1
]}

Gong Zhenbang ^{[1
]}

机构：

[1] Shanghai Univ, Dept Precis Mech Engn, POB 108,Yanchang Rd 149, Shanghai 200072, Peoples R China

来源：

2012 INTERNATIONAL SYMPOSIUM ON SAFETY SCIENCE AND TECHNOLOGY | 2012年 / 45卷

基金：

美国国家科学基金会;

关键词：

small UAV; on-line adaptive; ADRC;

D O I：

10.1016/j.proeng.2012.08.269

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Since Small Unmanned Helicopter flight attitude control process has strong time- varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight (C) 2012 The Authors. Published by Elsevier Ltd.

引用

页码：980 / 985

页数：6

共 8 条

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[3]

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[5]

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[7]

Qin Changmao, 2011, Transactions of Nanjing University of Aeronautics & Astronautics, V28, P240

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Wang, Hao ;

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FRONTIERS OF MANUFACTURING SCIENCE AND MEASURING TECHNOLOGY II, PTS 1 AND 2, 2012, 503-504 :1527-1531

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