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小型无人直升机航向的双线性控制
  • 期刊名称：广东工业大学学报
  • 时间：0
  • 页码：1-5+16
  • 语言：中文
  • 分类：TP273.3[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]广东工业大学自动化学院,广东广州510090
  • 相关基金：国家自然科学基金资助项目（U0735003 60974047）; 教育部博士点基金资助项目（20070562005）; 广东省基金团队项目（8351009001000002）
  • 相关项目：复杂传感与控制网络系统的建模、控制与优化
作者： 章云|杨玲玲|陈贞丰|
关键词： 双线性控制, 偏差分离, 无人直升机, 航向控制, bilinear control, model bias separation, unmanned helicopter, yaw control
中文摘要：

提出一种基于偏差分离的双线性控制策略,并将其应用到小型无人直升机的航向控制中.双线性控制策略把系统模型分解为两部分：线性模型和不确定项.用偏差分离结构获取不确定项的信息.控制器也由两部分组成,一部分根据线性模型设计常规线性控制器;另一部分则基于不确定项的信息设计线性补偿控制器.仿真结果表明了所提出的双线性控制策略的有效性.

英文摘要：

Bilinear control strategy based on model bias separation is proposed,and it is applied to the yaw control of small-scale unmanned helicopters.The system model is divided into two parts：linear model and uncertainty.The information of uncertainty is online obtained by the novel structure of model bias separation.The controller is the integration of a conventional linear controller with a linear compensator.The simulation results verify the effectiveness of the proposed bilinear control strategy.

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