Feedback linearization of the nonlinear model of a small-scale helicopter |
| |
Authors: | Baoquan SONG Yunhui LIU Caizhi FAN |
| |
Affiliation: | 1. College of Electronic Science and Engineering,National University of Defense Technology,Changsha Hunan 410073,China 2. Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong,China |
| |
Abstract: | In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristicsof a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hoveringcontrol is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linearsystem using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinearcontroller. |
| |
Keywords: | Feedback linearization Nonlinear model Model helicopter |
本文献已被 维普 万方数据 SpringerLink 等数据库收录! |
| 点击此处可从《控制理论与应用(英文版)》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用(英文版)》下载全文 |