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۱Discrete–Time Model Predictive Control (DMPC) for Autonomous Unmanned Helicopter using Laguerre Function in Hovering Mode
اطلاعات انتشار: اولین کنفرانس بین المللی دستاوردهای نوین پژوهشی در مهندسی برق و کامپیوتر، سال
تعداد صفحات: ۶
Of th challengaes in implementing Model Predictive Controlllers are their heavy computational load, and time–consuming to run in each control step. In this paper, a new Discrete–time Model Predictive Control (DMPC) based on unstructured identification using Laguerre functions is presented. This algorithm is used to control of the unmanned helicopter in the hover mode. Combining predictive control with Laguerre series for constructing helicopter model leads to lower computational efforts and higher precision and there is no requirement for accurate model in controller design. It also renders a precise modelling of the process unnecessary, and is useful in on–line control system design. The proposed control algorithm is simulated on transitional velocity, angular velocity and Euler angles in the hover mode. On the other hand, control input signal is dependent to difference between state variables. We used Karman filter to estimate these variables. Finally, the results of the proposed simulation, compared with ordinary DMPC. The results clearly demonstrate well performances of the proposed simulation.<\div>
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