Towards the Development of Fractional-Order Flight Controllers for the Quadrotor

被引：0

作者：

Dong, Wei ^{[1
,2
]}

Chen, Jie ^{[1
]}

Yang, Jiteng ^{[3
]}

Sheng, Xinjun ^{[1
]}

Zhu, Xiangyang ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China

[2] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310058, Zhejiang, Peoples R China

[3] Tsinghua Univ, Dept Precis Instrument, Beijing 100084, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I | 2016年 / 9834卷

关键词：

Quadrotor; Fractional order controller; Paramter tunning; Flight control; TRAJECTORY TRACKING CONTROL;

D O I：

10.1007/978-3-319-43506-0_6

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The criterion for the development and associated parameter tunning of a class of fractional-order proportional-integral-derivative controllers, regarding the attitude stabilization as the inner control loop, is proposed for the quadrotor in this work. To facilitate this development, the dynamic model of the quadrotor is firstly formulated, and the transfer function of the inner loop is presented based on the real-time flights conducted in previous researches. With the obtained transfer function model, a class of fractional order controllers, including fractional order proportional-derivative controllers and proportional-integral controllers are developed accordingly. For each controller, the parameter tunning methods are addressed in details. To verify the effectiveness of this development, numeric simulations are conducted at last, and the results clearly verify the superiority of the fractional order controllers over conventional proportional-integral-derivative controllers in real-time flight of the quadrotor.

引用

页码：63 / 74

页数：12

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