TY - GEN
T1 - An implement of RPV control system for small unmanned helicopters
AU - Zhang, Yicheng
AU - Wang, Tianmiao
AU - Liang, Jianhong
AU - Wang, Chaolei
AU - Chen, Yang
AU - Zhou, Yi
AU - Luan, Yubao
AU - Gao, Han
PY - 2012
Y1 - 2012
N2 - This paper has presented an implementation of a RPV control system for a small unmanned helicopter. Both the hardware and the software of the UAV have been described in detail. An EKF-based GPS/INS navigation system is developed with low-cost inertial sensors and a GPS receiver. A chaos-genetic algorithm is proposed in the system identification of the helicopter. A LQG-based RPV (Remotely Piloted Vehicle) control scheme is applied in the control system. The airline flight of the control system has been verified by a hardware-in-loop simulation environment. Real flight experiment is also carried out to test the performance of the RPV control system. It can be concluded that, besides the stable control of attitude, the proposed system is also able to track the target velocity quickly and realize the RPV control of the small unmanned helicopter.
AB - This paper has presented an implementation of a RPV control system for a small unmanned helicopter. Both the hardware and the software of the UAV have been described in detail. An EKF-based GPS/INS navigation system is developed with low-cost inertial sensors and a GPS receiver. A chaos-genetic algorithm is proposed in the system identification of the helicopter. A LQG-based RPV (Remotely Piloted Vehicle) control scheme is applied in the control system. The airline flight of the control system has been verified by a hardware-in-loop simulation environment. Real flight experiment is also carried out to test the performance of the RPV control system. It can be concluded that, besides the stable control of attitude, the proposed system is also able to track the target velocity quickly and realize the RPV control of the small unmanned helicopter.
UR - https://www.scopus.com/pages/publications/84876479895
U2 - 10.1109/ROBIO.2012.6491123
DO - 10.1109/ROBIO.2012.6491123
M3 - Conference contribution
AN - SCOPUS:84876479895
SN - 9781467321273
T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
SP - 1141
EP - 1145
BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Y2 - 11 December 2012 through 14 December 2012
ER -