Optimal Tracking Controller Design for a Small Scale Helicopter-中国期刊网

摘要 Amodelhelicopterismoredifficulttocontrolthanitsfullscalecounterpart.Thisisduetoitsgreatersensitivitytocontrolinputsanddisturbancesaswellashigherbandwidthofdynamics.Thisworkisfocusedondesigningpracticaltrackingcontrollerforasmallscalehelicopterfollowingpredefinedtrajectories.Atrackingcontrollerbasedonoptimalcontroltheoryissynthe-sizedasapartofthedevelopmentofanautonomoushelicopter.Someissueswithregardstocontrolconstraintsareaddressed.Theweightingbetweenstatetrackingperformanceandcontrolpowerexpenditureisanalyzed.Overallperformanceofthecontroldesignisevaluatedbasedonitstimedomainhistoriesoftrajectoriesaswellascontrolinputs.

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Optimal Tracking Controller Design for a Small Scale Helicopter

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Optimal Tracking Controller Design for a Small Scale Helicopter

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