System identification and adaptive control of micro helicopter

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 verificat...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 1780; no. 1; pp. 12026 - 12031
Main Authors Xu, Weixiong, Zhang, Fubiao, Lin, Defu
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.02.2021
Subjects
Adaptive control
Channels
Control systems design
Controllers
Flight tests
Helicopter control
Hovering
Identification methods
Model reference adaptive control
Model testing
Multivariable control
Nonlinear systems
Nonlinearity
Physics
Pitch (inclination)
Proportional integral derivative
Rolling motion
State space models
System identification
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Summary: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.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1780/1/012026