Abstract
This article aims to study a solution that can solve the problem of tracking control for yaw motion of an unmanned helicopter. The non-affine nonlinear equation is converted to a simplified affine model. The unknown parameters are estimated by the Levenberg–Marquardt algorithm. An autonomous flight controller is developed with the Lyapunov-based adaptive controller for a discrete-time system. For flight data collection and verification purpose, the software-in-the-loop is constructed based on Simulink and X-Plane simulator. The designed system is applied in the control of the yaw motion of an R30 V2 helicopter under ideal and turbulent environments. The performance of the proposed method is compared with the fuzzy logic controller, and the simulation results show that the quality of the current approach is considerably better.
| Original language | English |
|---|---|
| Journal | International Journal of Advanced Robotic Systems |
| Volume | 16 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2019 Jan 1 |
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All Science Journal Classification (ASJC) codes
- Software
- Computer Science Applications
- Artificial Intelligence
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Adaptive tracking control based on neural approximation for the yaw motion of a small-scale unmanned helicopter. / Le, Tri Quang; Lai, Ying-Chih; Yeh, Chun Liang.
In: International Journal of Advanced Robotic Systems, Vol. 16, No. 1, 01.01.2019.Research output: Contribution to journal › Article
TY - JOUR
T1 - Adaptive tracking control based on neural approximation for the yaw motion of a small-scale unmanned helicopter
AU - Le, Tri Quang
AU - Lai, Ying-Chih
AU - Yeh, Chun Liang
PY - 2019/1/1
Y1 - 2019/1/1
N2 - This article aims to study a solution that can solve the problem of tracking control for yaw motion of an unmanned helicopter. The non-affine nonlinear equation is converted to a simplified affine model. The unknown parameters are estimated by the Levenberg–Marquardt algorithm. An autonomous flight controller is developed with the Lyapunov-based adaptive controller for a discrete-time system. For flight data collection and verification purpose, the software-in-the-loop is constructed based on Simulink and X-Plane simulator. The designed system is applied in the control of the yaw motion of an R30 V2 helicopter under ideal and turbulent environments. The performance of the proposed method is compared with the fuzzy logic controller, and the simulation results show that the quality of the current approach is considerably better.
AB - This article aims to study a solution that can solve the problem of tracking control for yaw motion of an unmanned helicopter. The non-affine nonlinear equation is converted to a simplified affine model. The unknown parameters are estimated by the Levenberg–Marquardt algorithm. An autonomous flight controller is developed with the Lyapunov-based adaptive controller for a discrete-time system. For flight data collection and verification purpose, the software-in-the-loop is constructed based on Simulink and X-Plane simulator. The designed system is applied in the control of the yaw motion of an R30 V2 helicopter under ideal and turbulent environments. The performance of the proposed method is compared with the fuzzy logic controller, and the simulation results show that the quality of the current approach is considerably better.
UR - http://www.scopus.com/inward/record.url?scp=85061788746&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85061788746&partnerID=8YFLogxK
U2 - 10.1177/1729881419828277
DO - 10.1177/1729881419828277
M3 - Article
VL - 16
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
SN - 1729-8806
IS - 1
ER -