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Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter 总被引:2,自引:0,他引:2
In this work, we focus on the design and implementation of a robust flight control system for an unmanned helicopter. A comprehensive nonlinear model for an unmanned helicopter system, which is built by our research team at the National University of Singapore, is first presented. A three-layer control architecture is then adopted to construct an automatic flight control system for the aircraft, which includes (1) an inner-loop controller designed using the H∞ control technique to internally stabilize the aircraft and at the same time yield good robustness properties with respect to external disturbances, (2) a nonlinear outer-loop controller to effectively control the helicopter position and yaw angle in the overall flight envelope, and lastly, (3) a flight-scheduling layer for coordinating flight missions. Design specifications for military rotorcraft set for the US army aviation are utilized throughout the whole process to guarantee a top level performance. The result of actual flight tests shows our design is very successful. The unmanned helicopter system is capable of achieving the desired performance in accordance with the military standard under examination. 相似文献
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Conventional EMS (electromagnetic suspension) systems are susceptible to instability problems, and could even break down upon failures of the air-gap sensor or the accelerometer. Therefore, in order to improve EMS performance, a fault tolerant controller and a fault detection and isolation (FDI) algorithm are presented in this work. The fault tolerant controller is an extended version of the linear fault tolerant controller designed for known actuator or sensor failures, and it adopts the LMI-based H∞ control for a class of nonlinear systems. The fault detection algorithm employs fuzzy inference. The merits of the proposed control scheme have been verified by the experiments with a single-axis two-magnet suspension system subjected to failures of the actuator or the sensors. 相似文献
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