Development of an Intelligent Least Squares Based Linear Controller for Autonomous Helicopters

被引：0

作者：

Kubali, Eser ^{[1
]}

Yavrucuk, Ilkay ^{[2
]}

机构：

[1] TUSAS Aerosp Ind, TR-06980 Ankara, Turkey

[2] Middle East Tech Univ, Dept Aerosp Engn, TR-06800 Ankara, Turkey

来源：

2016 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2016年

关键词：

D O I：

暂无

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper, a novel PID gain update law using linear least squares regression is introduced as an adaptive control method for autonomous helicopters. In addition, prediction analysis is conducted for error dynamics of the closed loop system using recursive linear least squares regression. Combining these two concepts with classical PID controller, an intelligent PID controller is obtained. A flight controller with three control loops is developed to demonstrate the capabilities of the controller. Finally, several maneuvers are carried out to investigate the new intelligent controller.

引用

页码：242 / 251

页数：10

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