Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

被引：11

作者：

Bisgaard, Morten ^{[1
]}

La Cour-Harbo, Anders ^{[1
]}

Danapalasingam, Kumeresan A. ^{[1
]}

机构：

[1] Univ Aalborg, Sect Automat & Control, Dept Elect Syst, DK-9220 Aalborg, Denmark

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

D O I：

10.1109/IROS.2010.5651755

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents the design and verification of a model based nonlinear feedforward controller for vertical and horizontal wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and the effectiveness and advantage of the feedforward controller is demonstrated through flight tests.

引用

页码：1078 / 1083

页数：6