Attitude control of small unmanned four-rotor helicopter based on adaptive inverse control theory

被引：3
|
作者：
Li Jin-song [1 ]
Cao Xi [2 ]
机构：
[1] Shanghai Jiao Tong Univ, Eng Training Ctr, Shanghai 200240, Peoples R China
[2] Shanghai Jiao Tong Univ, Sch Elect Informat & Elect Engn, Shanghai 200240, Peoples R China
来源：
MECHANIKA | 2012年 / 01期
关键词：
attitude control; small unmanned four-rotor helicopter; adaptive inverse control theory; SYSTEM;
D O I：
10.5755/j01.mech.18.1.1288
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A dynamic model of small unmanned four-rotor built according to Newton-Euler formalism was proposed in this paper. Base on this model, Adaptive Inverse Control (AIC) Theory was used in the control of the small unmanned four-rotor for the first time and the attitude stabilization control was also realized on the experimental platform. The attitude control experiment indicates that AIC is robust in the attitude control of the small unmanned four-rotor.
引用
收藏
页码：89 / 93
页数：5
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