کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10400042 | 890805 | 2012 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Tracking control of small-scale helicopters using explicit nonlinear MPC augmented with disturbance observers
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله

چکیده انگلیسی
A nonlinear optimal control scheme is proposed to address these issues. It consists of a nonlinear model predictive controller (MPC) and a nonlinear disturbance observer. First, an analytical solution of the MPC is developed based on the nominal model under the assumption that all disturbances are measurable. Then, a nonlinear disturbance observer is designed to estimate the influence of the external force/torque introduced by wind turbulences, unmodelled dynamics and variations of the helicopter dynamics. The global asymptotic stability of the composite controller has been established through stability analysis. Flight tests including hovering under wind gust and performing very challenging pirouette have been carried out to demonstrate the performance of the proposed control scheme.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 20, Issue 3, March 2012, Pages 258-268
Journal: Control Engineering Practice - Volume 20, Issue 3, March 2012, Pages 258-268
نویسندگان
Cunjia Liu, Wen-Hua Chen, John Andrews,