Adaptive control for a radio-controlled helicopter in a vertical flying stand

被引：26

作者：

Dzul, A

Lozano, R

Castillo, P

机构：

[1] Heudiasyc UTC, UMR 6599, Ctr Rech Royallieu, F-60205 Compiegne, France

[2] Inst Tecnol Laguna, Div Estudios Posgrado & Invest, Torreon 27000, Coahuila, Mexico

来源：

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2004年 / 18卷 / 05期

关键词：

helicopter dynamics; adaptive control; Lyapunov approach; pole-placement;

D O I：

10.1002/acs.808

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we focus on the design and implementation of a controller for a two degree-of-freedom system. This system is composed of a small-scale helicopter which is mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical pole-placement techniques for the yaw dynamics and adaptive pole-placement for the altitude dynamics. Experimental results show the performance of such a controller. Copyright (C) 2004 John Wiley Sons, Ltd.

引用

页码：473 / 485

页数：13