Height and attitude active disturbance rejection controller design of a small-scale helicopter
Small-scale helicopters are very attractive because of their unique features. However, autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable, strongly nonlinear, and sensitive to disturbances. In this paper, we focus on the design of a...
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| Veröffentlicht in: | Science China. Information sciences 2015-03, Vol.58 (3), p.139-155 |
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| creator | Tang, Shuai Yang, QiuHui Qian, ShaoKe Zheng, ZhiQiang |
| description | Small-scale helicopters are very attractive because of their unique features. However, autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable, strongly nonlinear, and sensitive to disturbances. In this paper, we focus on the design of a height and attitude active disturbance rejection controller （ADRC） for a small-scale helicopter constructed in our lab. Firstly, a compre- hensive nonlinear model for the platform is presented, which is obtained through first principles modeling and system identification. The controller is designed using backstepping technique incorporated with extended state observer （ESO）, which is used to estimate the unknown disturbances. Then~ the estimate is introduced into the control law to compensate for the disturbances. The design specifications of military rotorcraft are introduced to guide the controller design to achieve specified control performance. Considering the physical limitations, reference models are designed to shape the desired control responses. At last, several flight simulations are carried out to validate the effectiveness and robustness of the proposed controller. The results show that the proposed controller works well and Level 1 performance can be achieved. |
| doi_str_mv | 10.1007/s11432-014-5206-5 |
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However, autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable, strongly nonlinear, and sensitive to disturbances. In this paper, we focus on the design of a height and attitude active disturbance rejection controller （ADRC） for a small-scale helicopter constructed in our lab. Firstly, a compre- hensive nonlinear model for the platform is presented, which is obtained through first principles modeling and system identification. The controller is designed using backstepping technique incorporated with extended state observer （ESO）, which is used to estimate the unknown disturbances. Then~ the estimate is introduced into the control law to compensate for the disturbances. The design specifications of military rotorcraft are introduced to guide the controller design to achieve specified control performance. Considering the physical limitations, reference models are designed to shape the desired control responses. At last, several flight simulations are carried out to validate the effectiveness and robustness of the proposed controller. The results show that the proposed controller works well and Level 1 performance can be achieved.</description><identifier>ISSN: 1674-733X</identifier><identifier>EISSN: 1869-1919</identifier><identifier>DOI: 10.1007/s11432-014-5206-5</identifier><language>eng</language><publisher>Heidelberg: Science China Press</publisher><subject>Active control ; ADRC ; Attitudes ; Computer Science ; Control systems design ; Control theory ; Controllers ; Design engineering ; Design specifications ; Disturbances ; Estimates ; First principles ; Flight control ; Helicopter control ; Helicopter design ; Helicopters ; Information Systems and Communication Service ; Military helicopters ; Nonlinearity ; Rejection ; Research Paper ; Robust control ; Rotary wing aircraft ; Small scale ; State observers ; System identification ; 姿态 ; 小规模 ; 控制器设计 ; 直升机 ; 自抗扰控制器 ; 非线性模型 ; 飞行控制</subject><ispartof>Science China. Information sciences, 2015-03, Vol.58 (3), p.139-155</ispartof><rights>Science China Press and Springer-Verlag Berlin Heidelberg 2014</rights><rights>Science China Press and Springer-Verlag Berlin Heidelberg 2014.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c376t-8d1b515c21227c5e026311f826d07625f2eb6585e24d9136c0de3af97201efef3</citedby><cites>FETCH-LOGICAL-c376t-8d1b515c21227c5e026311f826d07625f2eb6585e24d9136c0de3af97201efef3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Uhttp://image.cqvip.com/vip1000/qk/84009A/84009A.jpg</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s11432-014-5206-5$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://www.proquest.com/docview/2918546824?pq-origsite=primo$$EHTML$$P50$$Gproquest$$H</linktohtml><link.rule.ids>314,776,780,21367,27901,27902,33721,33722,41464,42533,43781,51294</link.rule.ids></links><search><creatorcontrib>Tang, Shuai</creatorcontrib><creatorcontrib>Yang, QiuHui</creatorcontrib><creatorcontrib>Qian, ShaoKe</creatorcontrib><creatorcontrib>Zheng, ZhiQiang</creatorcontrib><title>Height and attitude active disturbance rejection controller design of a small-scale helicopter</title><title>Science China. Information sciences</title><addtitle>Sci. China Inf. Sci</addtitle><addtitle>SCIENCE CHINA Information Sciences</addtitle><description>Small-scale helicopters are very attractive because of their unique features. However, autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable, strongly nonlinear, and sensitive to disturbances. In this paper, we focus on the design of a height and attitude active disturbance rejection controller （ADRC） for a small-scale helicopter constructed in our lab. Firstly, a compre- hensive nonlinear model for the platform is presented, which is obtained through first principles modeling and system identification. The controller is designed using backstepping technique incorporated with extended state observer （ESO）, which is used to estimate the unknown disturbances. Then~ the estimate is introduced into the control law to compensate for the disturbances. The design specifications of military rotorcraft are introduced to guide the controller design to achieve specified control performance. Considering the physical limitations, reference models are designed to shape the desired control responses. At last, several flight simulations are carried out to validate the effectiveness and robustness of the proposed controller. The results show that the proposed controller works well and Level 1 performance can be achieved.</description><subject>Active control</subject><subject>ADRC</subject><subject>Attitudes</subject><subject>Computer Science</subject><subject>Control systems design</subject><subject>Control theory</subject><subject>Controllers</subject><subject>Design engineering</subject><subject>Design specifications</subject><subject>Disturbances</subject><subject>Estimates</subject><subject>First principles</subject><subject>Flight control</subject><subject>Helicopter control</subject><subject>Helicopter design</subject><subject>Helicopters</subject><subject>Information Systems and Communication Service</subject><subject>Military helicopters</subject><subject>Nonlinearity</subject><subject>Rejection</subject><subject>Research Paper</subject><subject>Robust control</subject><subject>Rotary wing aircraft</subject><subject>Small scale</subject><subject>State observers</subject><subject>System identification</subject><subject>姿态</subject><subject>小规模</subject><subject>控制器设计</subject><subject>直升机</subject><subject>自抗扰控制器</subject><subject>非线性模型</subject><subject>飞行控制</subject><issn>1674-733X</issn><issn>1869-1919</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNp9kE9rHDEMxYfSQEOSD9CbaS-5uLHs8Z85htA0gUAvDeRU4_Vodmfx2hvbU8i3j5cNLeRQXSTE7z2J13WfgX0DxvRVAegFpwx6KjlTVH7oTsGogcIAw8c2K91TLcTTp-6ilC1rJQTj2px2v-9wXm8qcXEkrta5LiMS5-v8B8k4l7rklYseScYttm2KxKdYcwoBMxmxzOtI0kQcKTsXAi3eBSQbDLNP-4r5vDuZXCh48dbPusfb779u7ujDzx_3N9cP1AutKjUjrCRIz4Fz7SUyrgTAZLgamVZcThxXShqJvB8HEMqzEYWbBs0Z4ISTOOsuj777nJ4XLNXu5uIxBBcxLcWCUoORynDZ0K_v0G1acmzfWT6AkX2j-kbBkfI5lZJxsvs871x-scDsIXR7DN220O0hdHtw5kdNaWxcY_7n_D_Rl7dDmxTXz03395JSQhsNGsQrCTePNw</recordid><startdate>20150301</startdate><enddate>20150301</enddate><creator>Tang, Shuai</creator><creator>Yang, QiuHui</creator><creator>Qian, ShaoKe</creator><creator>Zheng, ZhiQiang</creator><general>Science China Press</general><general>Springer Nature B.V</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W92</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>H8D</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20150301</creationdate><title>Height and attitude active disturbance rejection controller design of a small-scale helicopter</title><author>Tang, Shuai ; Yang, QiuHui ; Qian, ShaoKe ; Zheng, ZhiQiang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c376t-8d1b515c21227c5e026311f826d07625f2eb6585e24d9136c0de3af97201efef3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Active control</topic><topic>ADRC</topic><topic>Attitudes</topic><topic>Computer Science</topic><topic>Control systems design</topic><topic>Control theory</topic><topic>Controllers</topic><topic>Design engineering</topic><topic>Design specifications</topic><topic>Disturbances</topic><topic>Estimates</topic><topic>First principles</topic><topic>Flight control</topic><topic>Helicopter control</topic><topic>Helicopter design</topic><topic>Helicopters</topic><topic>Information Systems and Communication Service</topic><topic>Military helicopters</topic><topic>Nonlinearity</topic><topic>Rejection</topic><topic>Research Paper</topic><topic>Robust control</topic><topic>Rotary wing aircraft</topic><topic>Small scale</topic><topic>State observers</topic><topic>System identification</topic><topic>姿态</topic><topic>小规模</topic><topic>控制器设计</topic><topic>直升机</topic><topic>自抗扰控制器</topic><topic>非线性模型</topic><topic>飞行控制</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tang, Shuai</creatorcontrib><creatorcontrib>Yang, QiuHui</creatorcontrib><creatorcontrib>Qian, ShaoKe</creatorcontrib><creatorcontrib>Zheng, ZhiQiang</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-工程技术</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Science China. Information sciences</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Tang, Shuai</au><au>Yang, QiuHui</au><au>Qian, ShaoKe</au><au>Zheng, ZhiQiang</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Height and attitude active disturbance rejection controller design of a small-scale helicopter</atitle><jtitle>Science China. Information sciences</jtitle><stitle>Sci. China Inf. Sci</stitle><addtitle>SCIENCE CHINA Information Sciences</addtitle><date>2015-03-01</date><risdate>2015</risdate><volume>58</volume><issue>3</issue><spage>139</spage><epage>155</epage><pages>139-155</pages><issn>1674-733X</issn><eissn>1869-1919</eissn><abstract>Small-scale helicopters are very attractive because of their unique features. However, autonomous flight control for small-scale helicopters is still a challenging work because they are naturally unstable, strongly nonlinear, and sensitive to disturbances. In this paper, we focus on the design of a height and attitude active disturbance rejection controller （ADRC） for a small-scale helicopter constructed in our lab. Firstly, a compre- hensive nonlinear model for the platform is presented, which is obtained through first principles modeling and system identification. The controller is designed using backstepping technique incorporated with extended state observer （ESO）, which is used to estimate the unknown disturbances. Then~ the estimate is introduced into the control law to compensate for the disturbances. The design specifications of military rotorcraft are introduced to guide the controller design to achieve specified control performance. Considering the physical limitations, reference models are designed to shape the desired control responses. At last, several flight simulations are carried out to validate the effectiveness and robustness of the proposed controller. The results show that the proposed controller works well and Level 1 performance can be achieved.</abstract><cop>Heidelberg</cop><pub>Science China Press</pub><doi>10.1007/s11432-014-5206-5</doi><tpages>17</tpages></addata></record> |
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| subjects | Active control ADRC Attitudes Computer Science Control systems design Control theory Controllers Design engineering Design specifications Disturbances Estimates First principles Flight control Helicopter control Helicopter design Helicopters Information Systems and Communication Service Military helicopters Nonlinearity Rejection Research Paper Robust control Rotary wing aircraft Small scale State observers System identification 姿态 小规模 控制器设计 直升机 自抗扰控制器 非线性模型 飞行控制 |
| title | Height and attitude active disturbance rejection controller design of a small-scale helicopter |
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