کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4975955 | 1365599 | 2012 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Improved digital tracking controller design for pilot-scale unmanned helicopter
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper, methods for improved design of digital tracking controller for a pilot-scale unmanned helicopter are considered. By discretizing the linearized helicopter model, the linear quadratic with integral (LQI) capability is investigated and applied in order to develop an efficient tracking system including a state-feedback plus integral action. The helicopter velocities are used to formulate a prescribed position reference tracking trajectory. When both process and measurement noises are present, a Kalman filter (KF) is combined with the LQI to form a linear quadratic Gaussian with integral (LQGI) tracking system. Simulation studies illuminate both the capability of the controller design and the accuracy of the estimator. Next, H2, Hâ and mixed H2/Hâ controls are designed and the results between methods are produced and compared.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 349, Issue 1, February 2012, Pages 42-58
Journal: Journal of the Franklin Institute - Volume 349, Issue 1, February 2012, Pages 42-58
نویسندگان
Magdi S. Mahmoud, Arief B. Koesdwiady,