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In this paper, a novel adaptive height and attitude controller for a small-scale unmanned helicopter is proposed to deal with the parametric uncertainty. Firstly, the dynamic model is decoupled to two subsystems and transformed to linear parameter dependent style equivalently. Then, feedback linearization and back-stepping are used to design adaptive controller for height subsystem and attitude subsystem...
An adaptive approach based on Trajectory Linearization Control (TLC) is introduced to achieve the trajectory tracking of model-scaled helicopter with constant or slow time-varying model uncertainties. In the procedure of the controller designing, estimated parameters are applied to compensate for the uncertain inertial parameters (such as the mass and the inertial matrix) of the helicopter. Stability...
This paper describes about adaptive neural controller (ANC) to stabilize an Autonomous Mini Aircraft Quadrotor (AMAC-Q) as Unmanned Aerial Vehicle (UAV) by using Model References Adaptive System (MRAS) as control scheme.
Adaptive inverse control (AIC) theory is introduced to inhibit interferences such as side wind during hovering control for small-sized unmanned helicopter. Based on this theory, an AIC control block diagram is improved to accommodate with the characteristics of helicopter hovering model and robust design. According to structure and fundamental theory of small-sized unmanned helicopter, a hover flight...
For a four-rotor mini helicopter, an adaptive controller is presented based on Immersion and Invariance (I&I) approach. Although there are many aerodynamic coefficients such as thrust coefficients and drag coefficients with uncertainty in the model, a new parameterization with a fewer uncertain coefficients is developed to simplify the complex multivariable parameter adaptation. It is shown that...
This paper presents an adaptive backstepping attitude control method for a miniature helicopter with unknown parameters. The adaptive controller is designed by combining a control law with a parameter estimator, which provides estimates of unknown parameters. The stability of the overall closed-loop system is proven to be asymptotically stable based on the Lyapunov theorem. Computer simulation results...
In this paper, the L1 adaptive control theory is used to design a high bandwidth inner loop controller to provide attitude and velocity stabilization of an autonomous small-scale rotorcraft in the presence of wind disturbances. The nonlinear model of the vehicle is expressed as a linear time-varying system for a predefined region of operation, for which an L1 adaptive controller is designed. The L...
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