Slow Switching Adaptive Model Inversion Control of Helicopter

摘要

Dealing-with the deficiency in traditional adaptive model inversion control scheme of helicopter,we propose the slow switching AMIC scheme based on Multiple Points Inversion Models Group and also give the asymptotic stability condition for the flight control system. In this scheme,Multiple Points Inversion Models Group was constructed to replace the single Point Inversion Model which is used in traditional scheme. The attitude error control system could be transformed into linear switched system,and then attitude adaptive control could be achieved via slow switching. Instead of compensating global inversion error caused by Single Point Inversion Model,the adaptive element used here,which was designed based on immune feedback principle,only needed to compensate local inversion error nearby current state point caused by Multiple Points Inversion Models Group. Therefore,the burden of adaptive element could be greatly alleviated and controller robustness could also be promoted. simulation results show superiorities of the proposed scheme. Good control performance and strong robustness are demonstrated.