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
收藏
页码：1167 / 1172
页数：6
相关论文
共 50 条
  • [21] Position and Attitude Tracking Control for a Quadrotor UAV via Double-loop Controller
    Yin, Hairong
    Wang, Qingling
    Sun, Changyin
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 5358 - 5363
  • [22] Quadrotor modeling and control based on Linear Active Disturbance Rejection Control
    Li, Jiaming
    Li, Rui
    Zheng, Haichao
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 10651 - 10656
  • [23] Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization
    Pokorny, Miroslav
    Docekal, Tomas
    Rosinova, Danica
    JOURNAL OF ELECTRICAL ENGINEERING-ELEKTROTECHNICKY CASOPIS, 2020, 71 (01): : 1 - 10
  • [24] Sliding Mode Control of Quadrotor Based on Differential Flatness
    Abadi, Amine
    Brahim, Anis Ben Hadj
    Mekki, Hassen
    El Amraoui, Adnen
    Ramdani, Nacim
    2018 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND DIAGNOSIS (ICCAD), 2018,
  • [25] Point-to-Point Control of a Quadrotor: Theory and Experiment
    Ajmera, Juhi
    Sankaranarayanan, V.
    IFAC PAPERSONLINE, 2016, 49 (01): : 401 - 406
  • [26] Robust Attitude Control of a Quadrotor Helicopter with Unknown Parameters
    Liu Hao
    Bai Yongqiang
    Lu Geng
    Zhong Yisheng
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 2633 - 2637
  • [27] Decentralized Direct MRAC for Attitude Control of a Quadrotor UAV
    Jurado, Francisco
    Lopez, Sergio
    Dzul, Alejandro
    Rodriguez-Cortes, H.
    2017 14TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE), 2017,
  • [28] System identification and H∞-based control of quadrotor attitude
    Noormohammadi-Asl, Ali
    Esrafilian, Omid
    Arzati, Mojtaba Ahangar
    Taghirad, Hamid D.
    MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2020, 135
  • [29] Mathematical Modelling and Parameter Identification of Quadrotor (a survey)
    Chovancova, Anezka
    Fico, Tomas
    Chovanec, Lubos
    Hubinsky, Peter
    MODELLING OF MECHANICAL AND MECHATRONIC SYSTEMS, 2014, 96 : 172 - 181
  • [30] Direct Method Based Control System for an Autonomous Quadrotor
    Cowling, Ian D.
    Yakimenko, Oleg A.
    Whidborne, James F.
    Cooke, Alastair K.
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2010, 60 (02) : 285 - 316
12345