کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
714262 892183 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust Motion Controller Design and Implementation for Unmanned Helicopter
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Robust Motion Controller Design and Implementation for Unmanned Helicopter
چکیده انگلیسی

In this paper a novel robust controller is investigated for unmanned helicopter. Based on signal compensation theory, robust controllers are designed to enhance both rotational and translational tracking performance, as well as robust performance over parameter uncertainty and external disturbance. The designed robust controllers are time invariant and easy to realize. The full controllers are implemented on onboard avionics of a small scale unmanned helicopter THeli260 developed by Tsinghua University. Real flight experiments are successfully carried out, which shows advantage of designed robust controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 30, 2013, Pages 26-31