NONLINEAR PD CONTROL OF A QUADROTOR AIRCRAFT

被引：0

作者：

Hernandez-Guzman, V. M. ^{[1
]}

Molina-Mendez, J. ^{[1
]}

Nieto-Martinez, J. ^{[1
]}

机构：

[1] Univ Autonoma Queretaro, Fac Ingn, Queretaro 76150, Mexico

来源：

INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2010年 / 6卷 / 04期

关键词：

Quadrotor aircraft control; PD control; Nonlinear control; Lyapunov stability; PID CONTROL; STABILIZATION; HELICOPTER;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose a control strategy to control a quadrotor aircraft. Based on the nonlinear dynamic model, we succeed to command independent references for aircraft position and yaw angle. Our controller is basically composed by six nonlinear Proportional-Derivative loops. This results in a simpler strategy compared with works proposed previously in the literature when they take into account the aircraft nonlinear dynamics during the design stage.

引用

页码：1699 / 1711

页数：13

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