同轴直升机建模与路径跟踪控制

2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Pub Date : 2022-03-22 DOI:10.1109/IC_ASET53395.2022.9765936

Helmi Abrougui, Ayoub Neffati, S. Nejim

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引用次数: 0

摘要

提出了一种同轴直升机的建模与控制方法。采用滑模控制设计了自动驾驶仪。它由一个用于姿态稳定的低级控制器和一个用于路径跟踪控制的高级控制器组成。速度控制也是利用直升机俯仰运动的动力学进行的。通过仿真验证了整个系统的性能和所设计的自动驾驶仪的有效性。

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Modeling and Path Following Control of a Coaxial Helicopter

This paper proposes an approach for modeling and controlling a coaxial helicopter. An autopilot is designed using sliding mode control. It consists of a low-level controller for attitude stabilization and a high-level controller for path following control. Speed controller is also performed using the helicopter dynamics in pitch motion. Simulations are carried out to show the behavior of the overall system and the effectiveness of the designed autopilot.

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2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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