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
  • [31] 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
  • [32] Decentralized Control of the Quadrotor's 6-DOF
    Jurado, Francisco
    Lopez, Sergio
    Dzul, Alejandro
    Rodriguez-Cortes, H.
    2017 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE), 2017, : 114 - 119
  • [33] Modeling and Control of UAV Quadrotor
    Boushaki, Razika Zammoum
    Aribi, Yacine
    Loubar, Hocine
    Hamza, Younes
    Abdellah, Kouzou
    2019 4TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS AND THEIR APPLICATIONS (ICPEA), 2019,
  • [34] PID and MRAC control of a Quadrotor
    Thusoo, Ritika
    Jain, Sheilza
    Bangia, Sakshi
    2019 3RD INTERNATIONAL CONFERENCE ON RECENT DEVELOPMENTS IN CONTROL, AUTOMATION & POWER ENGINEERING (RDCAPE), 2019, : 197 - 201
  • [35] Position and attitude control of a quadrotor
    Han, Wenjie
    Zhou, Rong
    Tan, Wen
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 9940 - 9945
  • [36] Towards High-Precision Quadrotor Trajectory Following Capabilities: Modelling, Parameter Estimation, and LQR Control
    Hanif, A.
    Putro, I. E.
    Riyadl, A.
    Sudiana, O.
    Irwanto, H. Y.
    LATVIAN JOURNAL OF PHYSICS AND TECHNICAL SCIENCES, 2024, 61 (02) : 89 - 104
  • [37] Robust control for a quadrotor UAV based on linear quadratic regulator
    Huang, Tianpeng
    Huang, Deqing
    Wang, Zhikai
    Qin, Na
    Shah, Awais
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 6893 - 6898
  • [38] Conditional integrator sliding mode control of an unmanned quadrotor helicopter
    Diaz-Mendez, Yohan
    de Jesus, Leandro Diniz
    de Sousa, Marcelo Santiago
    Cunha, Sebastiao Simoes
    Ramos, Alexandre Brandao
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2022, 236 (03) : 458 - 472
  • [39] QUATERNION-BASED CONTROL OF ACROBATIC QUADROTOR WITH TRAJECTORY FOLLOWING
    Liu, Haowen
    Yang, Bingen
    PROCEEDINGS OF THE ASME 2020 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2020, VOL 7B, 2020,
  • [40] Nonlinear Disturbance Observer-Based Control for Quadrotor UAV
    Taha, Wesam
    Al-Durra, Ahmed
    Errouissi, Rachid
    Al-Wahedi, Khaled
    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 2589 - 2595
12345