Nonlinear Adaptive Regulation Control of A Quadrotor Unmanned Aerial Vehicle
首发时间:2011-09-05
Abstract:In this paper, a nonlinear adaptive regulation controller is presented for aclass of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle'sdynamics is subject to modeling impression associated with the inertia matrix,aerodynamic damping coefficients, and some other system parameters. Theon-line parameter estimation scheme is combined with feedback control todevelop the adaptive control laws. Lyapunov based approaches are utilized toprove that the quadrotor UAV's position and yaw angle regulation errors areultimately driven to zero under parametric uncertainties. Simulation resultsare included to demonstrate the performance of the control strategy.
keywords: Quadrotor Adaptive Parameter Uncertain Feedback
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