The existence of the servo on small unmanned helicopter has increased the order and control difficulty of the entire system. This paper proposes an inverse model control idea to eliminate the effect of this device and solve the problem of the inverse transfer function being unable to be achieved. A trajectory tracking control system designed according to the small unmanned helicopter model characteristics to achieve autonomous flight on a precise path with reduced unknown interference effects. The Nonlinear Pole Assignment Controller (NPAC) used, considering the simplicity and known outer loop model, to make full use of the known model information and shorten the system response time. For the strong nonlinearity, strong coupling, and disturbance in the inner loop model, the High-Order Differential Feedback Controller (HODFC) utilized to compensate for the nonlinear model, disturbance, and coupling with its control filtering. Simulation experiments demonstrated that the designed control system had better anti-interference ability and tracking accuracy than the PID when applying the figure-eight climbing trajectory tracking control under external interference.
Modeling and High-Order Differential Feedback Control of Unmanned Helicopter Under Disturbances
Lect. Notes Electrical Eng.
Chinese Intelligent Systems Conference ; 2023 ; Ningbo, China October 14, 2023 - October 15, 2023
08.10.2023
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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