| 基于主动建模的无人直升机增强LQR控制 |
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| 引用本文： | 姜哲,赵新刚,齐俊桐,韩建达,王越超.基于主动建模的无人直升机增强LQR控制[J].吉林大学学报(信息科学版),2007,25(5):553-559. |
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| 作者姓名： | 姜哲 赵新刚 齐俊桐 韩建达 王越超 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所,机器人学实验室,沈阳,110016;中国科学院,研究生院,北京,100049
2. 中国科学院沈阳自动化研究所,机器人学实验室,沈阳,110016 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 为了解决无人直升机控制问题,通过把主动建模与LQR(Linear Quadratic Regulator)控制相结合,提出一种能补偿模型差的控制方法。该方法在悬停状态下,采用简化模型设计LQR控制器,并通过UKF(Un-scented-Kalman-Filter)在线估计简化模型与全状态模型的模型差,使用模型差作为补偿项对LQR控制增强。针对实际直升机动力学模型进行仿真,验证了基于UKF的估计和增强LQR控制的有效性。仿真实验结果证明,基于UKF的主动建模技术能够快速估计状态和参数变化,并且增强LQR控制能够使系统适应模型不确定性。
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| 关 键 词： | 自动控制技术 增强LQR控制 主动建模 模型差 无色卡尔曼滤波(UKF) 直升机 |
| 文章编号： | 1671-5896（2007）05-0553-07 |
| 收稿时间： | 2007-03-17 |
Enhanced LQR Control for Unmanned Helicopter Based on Active Model |
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| JIANG Zhe,ZHAO Xin-gang,QI Jun-tong,HAN Jian-da,WANG Yue-chao.Enhanced LQR Control for Unmanned Helicopter Based on Active Model[J].Journal of Jilin University:Information Sci Ed,2007,25(5):553-559. |
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| Authors: | JIANG Zhe ZHAO Xin-gang QI Jun-tong HAN Jian-da WANG Yue-chao |
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| Institution: | 1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | A control method that can compensate model error by integrating active model into LQR(Linear Quadratic Regulator) control is proposed.In the scheme,a normal LQR control designed from a simplified model at hovering is enhanced by means of UKF(Unscented-Kalman-Filter) based estimation,which tries to capture the model error between the simplified model and the full dynamics.Simulations about helicopter model are conducted to verify both the UKF-based estimation and the enhanced LQR control.Simulation results demonstrate that the UKF-based online modeling technique estimate quickly to the changes in both state and parameters,and the enhanced LQR control makes the control system adaptive to model uncertainties autonomously. |
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| Keywords: | automatic control technology enhanced linear quadratic regulator(LQR) control active model model error unscented-kalman-filter(UKF) helicopter |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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