QUADROTOR MODELLING AND CONTROL

被引：0

作者：

Jithu, G. ^{[1
]}

Jayasree, P. R. ^{[1
]}

机构：

[1] Amrita Sch Engn, Dept Elect & Elect Engn, Kollam, Kerala, India

来源：

2016 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, AND OPTIMIZATION TECHNIQUES (ICEEOT) | 2016年

关键词：

quadrotor; optimal control; PD control; TRACKING;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

this paper presents an investigation into modelling of quadrotor using Euler-Lagrange method. The Lagrangian is obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Based on this model, a control strategy is developed for uncoupled states of quadrotor using optimal control method. The full dynamic model of the quadrotor is considered for designing PD controller and the simulations are done and analyzed in Matlab.

引用

页码：1167 / 1172

页数：6

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