Title :
Modeling and attitude control of the miniature unmanned helicopter
Author :
Chen Xianxiang ; Liu Ying ; Hu Xiongwen ; Qian Yi ; Wang Jinhua
Author_Institution :
Beijing Inst. of Comput. Applic., Beijing, China
Abstract :
The mathematical model of the miniature unmanned helicopter was established, the parameters involved in the dynamics model were identified by the prediction-error method. The H∞ loop shaping robust control approach was utilized for the attitude control of the miniature unmanned helicopter. The results of the frequency analysis showed that the control system had good shape and ideal bandwidth. The simulation results showed the strong robustness. The flight test verified the feasibility and the effectiveness of the modeling and the control methods.
Keywords :
H∞ control; attitude control; autonomous aerial vehicles; helicopters; mobile robots; robot dynamics; robust control; H∞ loop shaping robust control approach; attitude control; frequency analysis; helicopter dynamics model; mathematical model; miniature unmanned helicopter; prediction-error method; Aerodynamics; Attitude control; Helicopters; Mathematical model; Predictive models; Robustness; Rotors; attitude control; flight test; loop shaping; miniature unmanned helicopter; system identification;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
