Name
Title | ||
|---|---|---|
Modeling, Identification and Robust Control of Yaw Dynamics of Small-Scale Unmanned Helicopters |
Abstract | ||
|---|---|---|
A yaw dynamic model of a small-scale unmanned helicopter with yaw rate feedback system is constructed according to its dynamic characteristics. With the data from flight experiment, a complete yaw dynamic state-space model is identified using prediction error method (PEM). Moreover, an analysis is made about the data from experimental flight, and thereby a dynamic model with higher fidelity is established. Then an external control law has been designed using classical PID control method and H∞ loop-shaping robust control method respectively. Comparative results demonstrated that the H∞ loop-shaping control has a superior performance and robustness than classical PID control. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ICNC.2009.686 | ICNC (2) |
Keywords | Field | DocType |
dynamic model,prediction error method,dynamic characteristic,robust control,complete yaw dynamic state-space,external control law,classical pid control method,classical pid control,loop-shaping control,small-scale unmanned helicopters,yaw dynamics,robust control method,yaw dynamic model,mobile robots,identification,stability analysis,robustness,feedback,vehicle dynamics,remotely operated vehicles,aerodynamics,pid control,feedback system,data mining,state space model,model identification | Remotely operated underwater vehicle,PID controller,Control theory,Computer science,Robustness (computer science),Vehicle dynamics,Robust control,Yaw,Mobile robot,Aerodynamics | Conference |
Citations | PageRank | References |
1 | 0.40 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaodong Wang | 1 | 1357 | 192.86 |
| Xiaoguang Zhao | 2 | 54 | 18.68 |
| Min Tan | 3 | 2342 | 201.12 |