Attitude Control of a Quadrotor

被引：71

作者：

Dikmen, I. Can ^{[1
]}

Arisoy, Aydemir ^{[2
]}

Temeltas, Hakan ^{[3
]}

机构：

[1] Air Force Acad, ASTIN, Istanbul, Turkey

[2] Air Force Acad, Dept Elect Engn, Istanbul, Turkey

[3] Istanbul Tech Univ, Fac Electrical Elect, Istanbul, Turkey

来源：

RAST 2009: PROCEEDINGS OF THE 4TH INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN SPACE TECHNOLOGIES | 2009年

关键词：

quadrotor; robust control; back stepping; sliding mode; inverse dynamic control;

D O I：

10.1109/RAST.2009.5158286

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This study includes altitude stabilization, hovering control any desired position and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linear and nonlinear control techniques applied to attitude control of this vehicle. Derived control methods have been performed using computer simulations and compared the results according to this study objective.

引用

页码：722 / +

页数：2