System identification and adaptive control of micro helicopter

Weixiong Xu, Fubiao Zhang*, Defu Lin

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

This paper copes with the controller design problem of a micro helicopter, which is a multivariable and strongly coupled nonlinear system. The state-space model near the hovering condition of pitch and roll channels is acquired by least-square system identification method, with flight test verification. Based on the identified model, model reference adaptive control is designed as angular rate controller, and PID controller is used to stabilize attitude loop. State-space model helps to decouple the roll and pitch channels, and model reference adaptive control can address external disturbances, model uncertainties and nonlinearities of the dynamics, which can be estimated and further eliminated online. Eventually, both simulations and actual flight tests are conducted to verify the effectiveness of the proposed control scheme.

Original languageEnglish
Article number012026
JournalJournal of Physics: Conference Series
Volume1780
Issue number1
DOIs
Publication statusPublished - 11 Feb 2021
Event2020 International Symposium on Automation, Mechanical and Design Engineering, SAMDE 2020 - Beijing, Virtual, China
Duration: 26 Dec 202028 Dec 2020

Fingerprint

Dive into the research topics of 'System identification and adaptive control of micro helicopter'. Together they form a unique fingerprint.

Cite this

Xu, W., Zhang, F., & Lin, D. (2021). System identification and adaptive control of micro helicopter. Journal of Physics: Conference Series, 1780(1), Article 012026. https://doi.org/10.1088/1742-6596/1780/1/012026