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To make a small unmanned helicopter in an uncertain environment to stabilize the flight, in this paper, we take the active model and the LQG control combined, present a control method, it can effective adapt to model uncertainty. The method is hovering helicopter, from the helicopter dynamic model based on their own, the first design of LQR controller, followed modeling wind disturbed in uncertain...
A novel fault-tolerant control method for autonomous mobile robot is proposed in this paper. The actuator effectiveness factors (AEFs) are introduced into the dynamics equation of mobile robot. The unscented Kalman filter (UKF) is employed for real time estimation of both the motion states and the AEFs. Such an active estimation is further incorporated into inverse dynamics control (IDC). The IDC...
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