• 论文 •

### 基于自抗扰控制的直升机航向控制方法

1. 中国科学院数学与系统科学研究院系统控制重点实验室, 北京 100190
• 出版日期:2012-06-25 发布日期:2012-08-22

JIANG Zhe. ACTIVE DISTURBANCE REJECTION CONTROL FOR THE YAW TRACKING FOR HELICOPTER[J]. Journal of Systems Science and Mathematical Sciences, 2012, 32(6): 641-652.

### ACTIVE DISTURBANCE REJECTION CONTROL FOR THE YAW TRACKING FOR HELICOPTER

JIANG Zhe

1. The Key Laboratory of System and Control, Academy of Mathematics and Systems Science,Chinese Academy of Sciences, Beijing 100190
• Online:2012-06-25 Published:2012-08-22

The yaw dynamics of helicopter involves input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, an active disturbance rejection control (ADRC) method is proposed. We design an extended state observer (ESO) to estimate the impact from parametric uncertainties and disturbances, and to realize online compensations. Time-varying parameters and other uncertainties in the helicopter dynamics can be rejected by active disturbance rejection control to achieve small tracking error. The simulations results with respect to the dynamics identified from a real helicopter-on-arm testbed are presented. The simulation results demonstrate the effectiveness of the proposed algorithm under the time-varying arameters and other uncertainties.

MR(2010)主题分类:

()
 [1] 李亚军，邓飞其. 中立型带跳不确定变时滞随机系统鲁棒指数稳定[J]. 系统科学与数学, 2012, 32(7): 821-830. [2] 闫茂德，宋程，王平. 一类具有时变时滞和Markov跳变参数的不确定系统滑模控制[J]. 系统科学与数学, 2012, 32(6): 739-749.