Model-free adaptive robust control design for a small unmanned helicopter
PAN Xiao-long
XIAN Bin
Abstract：A new model-free adaptive robust control law based on data-driven methodology is proposed for the attitude control of a small-size unmanned helicopter. Different from most exiting model based control algorithms which required exact dynamic model knowledge of the helicopter,the proposed control law depends only on the input and output data of the helicopters.By using the data-driven methodology,the dependence of the control algorithm on the prior knowledge of the helicopter dynamics model is reduced and the influence of the system uncertainties are compensated. The controller designing depends only on the measured input and output data of the unmanned helicopter,and the sliding mode reaching law improves the robustness of the system. Finally,real-time experiments are performed on a helicopter attitude control testbed.The experiment results show that the control scheme proposed in this paper achieves good control performance with good robustness with respect to system uncertainties and external wind disturbances.
Keywords：unmanned helicopterdata-driven controlmodel-free adaptive control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1171-1178 )