Proceedings ArticleDOI
Nonlinear Flight Control Strategy for an Underactuated Quadrotor Aerial Robot
A.A. Mian,Wang Daobo +1 more
- pp 938-942
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Developing of nonlinear model and nonlinear control strategy for a 6-DOF quadrotor aerial robot based on Newton-Euler formalism and backstepping based nonlinear controller based on constructing Lyapunov function for closed loop system.Abstract:
This paper presents development of nonlinear model and nonlinear control strategy for a 6-DOF quadrotor aerial robot. The nonlinear model of quadrotor aerial robot is based on Newton-Euler formalism. Model derivation comprises determining equations of motion of the quadrotor in three dimensions and seeking to approximate actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable. Thus a nonlinear control strategy is implemented for the quadrotor. The control strategy includes feedback linearization for translational subsystem and backstepping based nonlinear controller for the rotational subsystem of quadrotor aerial robot. Nonlinear Backstepping control design is based on constructing Lyapunov function for closed loop system and guarantees stability and tracking performance through Lyapunov energy dissipation. Effectiveness of the control design scheme is shown through nonlinear simulations.read more
Citations
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Proceedings ArticleDOI
Dynamic analysis and PID control for a quadrotor
Jun Li,Yuntang Li +1 more
TL;DR: Based on the classic scheme of PID control, a controller is designed, which aims to regulate the posture (position and orientation) of the 6 d.o.f. quadrotor, and the results of flying experiment show that the PID controllers robustly stabilize the Quadrotor.
Journal ArticleDOI
Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model
TL;DR: In this paper, an improved model allows accelerometer measurements, which are routinely available at high rates, to reduce an estimator's dependence on complex exteroceptive measurements, such as those obtained by an onboard camera or laser range finder.
Journal ArticleDOI
Feedback control strategies for quadrotor-type aerial robots: a survey:
TL;DR: The control of aerial robots is a popular research field as applications with different payloads lead to a variety of flight missions as mentioned in this paper, and quadrotor-type unmanned systems are one such example considered in this field.
Proceedings ArticleDOI
Control allocation for fault tolerant control of a VTOL octorotor
TL;DR: In this paper, a cascade inverse control allocation is proposed to allocate the controller commands to the actuators whilst ensuring that actuator saturation does not occur, and the response of the vehicle is the same when operating with all motors or fewer.
Journal ArticleDOI
Quadrotors unmanned aerial vehicles: a review
TL;DR: Based on the information summarized from 160 researches available, different control targets and flight missions are analysed and classified, and according to it, a general flight mission map is introduced.
References
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TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
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Helicopter performance, stability, and control
TL;DR: This text provides information necessary to analyze the performance of an existing helicopter or to participate in the design of a new helicopter, including the derivation of the theory behind the various methods of analysis, appropriate experimental data to correlate and supplement the theory, and charts that permit rapid analysis.
Proceedings ArticleDOI
Attitude stabilization of a four-rotor aerial robot
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: The proposed quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical take-off and landing (VTOL) aerial robot known as the quadrotor aircraft shows that the model-independent PD controller provides asymptotic stability for the problem.
Proceedings Article
Design of a four-rotor aerial robot
TL;DR: In this paper, the design and fabrication of a prototype four-rotor vertical take-off and landing (VTOL) aerial robot for use as indoor experimental robotics platform is presented.
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Basic Helicopter Aerodynamics
TL;DR: The first principles of the aerodynamics of helicopter flight can be found in the Basic Helicopter Aerodynamics (Seddon) as mentioned in this paper, which is widely appreciated as an easily accessible, rounded introduction to the first principles.