Please wait a minute...
ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2010, Vol. 11 Issue (12): 978-985    DOI: 10.1631/jzus.A1001368
APIEMS     
Identification and control of a small-scale helicopter
Abdelhakim Deboucha, Zahari Taha
Centre for Product Design and Manufacturing, University of Malaya, 50603 Kuala Lumpur, Malaysia, Faculty of Manufacturing Engineering and Management Technology, University Malaysia Pahang, 26300 Gambang, Pahang, Malaysia
Download:     PDF (0 KB)     
Export: BibTeX | EndNote (RIS)      

Abstract  Designing reliable flight control for an autonomous helicopter requires a high performance dynamics model. In this paper, a nonlinear autoregressive with exogenous inputs (NLARX) model is selected as the mathematical structure for identifying and controlling the flight of a small-scale helicopter. A neural network learning algorithm is combined with the NLARX model to identify the dynamic component of the rotorcraft unmanned aerial vehicle (RUAV). This identification process is based on the well-known gradient descent learning algorithm. As a case study, the multiple-input multiple-output (MIMO) model predictive control (MPC) is applied to control the pitch motion of the helicopter. Results of the neural network output model are closely match with the real flight data. The MPC also shows good performance under various conditions.

Key words： Dynamics model      System identification      Black box      Small-scale helicopter      Neural networks (NNs)      Control design     
Received: 28 October 2010      Published: 09 December 2010
CLC:  V249.1  
  TP242  
Service
E-mail this article
Add to my bookshelf
Add to citation manager
E-mail Alert
RSS
Articles by authors
Abdelhakim Deboucha
Zahari Taha
Cite this article:

Abdelhakim Deboucha, Zahari Taha. Identification and control of a small-scale helicopter. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2010, 11(12): 978-985.

URL:

http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.A1001368     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2010/V11/I12/978

[1] Chang-fu Zong, Pan Song, Dan Hu. Estimation of vehicle states and tire-road friction using parallel extended Kalman filtering[J]. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2011, 12(6): 446-452.
[2] Izuru TAKEWAKI, Mitsuru NAKAMURA. Temporal variation in modal properties of a base-isolated building during an earthquake[J]. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2010, 11(1): 1-8.
[3] Ping WU, Chun-jie YANG, Zhi-huan SONG. Subspace identification for continuous-time errors-in-variables model from sampled data[J]. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2009, 10(8): 1177-1186.
[4] RAHIMI N., SADEGHI M. H., MAHJOOB M. J.. Performance of the geometric approach to fault detection and isolation in SISO, MISO, SIMO and MIMO systems[J]. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2007, 8(9): 1443-1451.