Title :
Direct adaptive control of a four-rotor helicopter using disturbance observer
Author :
Fuyang Chen ; Bin Jiang ; Feifei Lu
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
In this paper, a stable multivariable model reference adaptive control (MRAC) scheme is proposed for a four-rotor helicopter with unknown external disturbance. Firstly, the disturbance observer is designed to well monitor the unknown disturbance. And then, the adaptive controller is developed based on the disturbance observer to compensate the external disturbance and track the desired system states. Finally, the simulation results illustrate the effectiveness of the proposed adaptive control scheme.
Keywords :
aircraft control; compensation; helicopters; model reference adaptive control systems; multivariable control systems; observers; stability; MRAC; direct adaptive control scheme; disturbance observer; four-rotor helicopter; stable multivariable model reference adaptive control scheme; system state tracking; unknown external disturbance compensation; Adaptation models; Adaptive control; Helicopters; Mathematical model; Observers; Propellers; Adaptive control; Disturbance observer; Four-rotor helicopter; MRAC;
Conference_Titel :
Neural Networks (IJCNN), 2014 International Joint Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-6627-1
DOI :
10.1109/IJCNN.2014.6889406
