%0 Journal Article
%T Model Identification and Active Modeling Control for Rotor Fly-robot: Theory and Experiment<br>旋翼飞行机器人系统建模与主动模型控制理论及实验研究
%A SONG Da-Lei
%A QI Jun-Tong
%A HAN Jian-Da
%A WANG Yue-Chao
%A <br>宋大雷
%A 齐俊桐
%A 韩建达
%A 王越超
%J 自动化学报
%D 2011
%I 
%X This paper proposes an active modeling control method, as well as a simplified reference model and a modified frequency identification process, to deal with the model mismatch, which brings errors to nominal controller. The hovering model is identified through the proposed semi-decoupled reference model and the modified frequency identification process. Based on this hovering model and adaptive set-membership filter (ASMF), a scheme of compensation for nominal controller is developed due to the unknown but bounded (UBB) model errors. Flight experiments are done on ServoHeli-40 fly-robot platform to verify the effectiveness of the proposed method in full flight envelope.
%K System identification
%K fly-robot with rotary wings
%K active modeling
%K adaptive set-membership filter (ASMF)<br>系统辨识
%K 旋翼飞行机器人
%K 主动模型
%K 自适应集员估计
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=B9B50DAB409F11485992D6AF8410B0D9&yid=9377ED8094509821&vid=42425781F0B1C26E&iid=E158A972A605785F&sid=03436AC72A659ACA&eid=DDDA4F26E8AD3C0E&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=0