Improved LQG control for small unmanned helicopter based on active model in uncertain environment

摘要

To make a small unmanned helicopter in an uncertain environment to stabilize the flight, in this paper, we take the active model and the LQG control combined, present a control method, it can effective adapt to model uncertainty. The method is hovering helicopter, from the helicopter dynamic model based on their own, the first design of LQR controller, followed modeling wind disturbed in uncertain environment, it is regarded as the disturbance of the force on the helicopter to helicopter dynamics model as a parameter, then through the Kalman filter joint estimation the states and parameters of the helicopter in order to achieve the reconstruction of the controller. The simulation results based on single channel confirmed the effectiveness of this control method.