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J4  2009, Vol. 43 Issue (5): 796-800    DOI: 10.3785/j.issn.1008-973X.2009.05.002
(浙江大学 控制科学与工程学系,浙江 杭州 310027)
Hierarchical hybrid control system of small unmanned helicopter
HOU Xin, LI Ping, HAN Bo, FANG Zhou
(Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China)
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A hierarchical hybrid control system of a small unmanned helicopter was designed based on the hierarchical architecture and the hybrid system theory. The system was divided into three layers: the regulation layer consisting of multiple single mode controllers responsible for different flight modes is a continuous dynamic system; the action planning layer performs the transition of multiple flight modes and gives flight reference trajectories; the flight schedule layer assigns the discrete evolution to execute an appropriate flight mode. The hierarchical hybrid control system was verified in a rectangle cruise flight in three- dimensional  space on an unmanned helicopter.

出版日期: 2009-11-18
:  TP273  


通讯作者: 李平,男,教授.     E-mail:
作者简介: 侯鑫(1981-),男,河南辉县人,博士生,从事无人机控制、导航和制导研究.
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侯鑫, 李平, 韩波, 等. 小型无人直升机分层混杂控制系统[J]. J4, 2009, 43(5): 796-800.

HOU Xin, LI Beng, HAN Bei, et al. Hierarchical hybrid control system of small unmanned helicopter. J4, 2009, 43(5): 796-800.


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