کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699941 890814 2010 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Modeling, system identification and robust control of a coaxial micro helicopter
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Modeling, system identification and robust control of a coaxial micro helicopter
چکیده انگلیسی

In this paper the design process of robust H∞H∞- control for a coaxial micro helicopter is presented. The process starts with the development of a nonlinear dynamic model reflecting all the important elements of the helicopter. The corresponding system parameters are identified using measurement data from test benches and real flight, as well as a nonlinear identification tool, the Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The identified and verified model is then used for the design of H∞H∞- controllers for attitude and heave control, which are successfully tested in flight on the real system.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 18, Issue 7, July 2010, Pages 700–711
نویسندگان
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