Research on Small Unmanned Four-rotor Control Based on AIC

Author

Li Jin-song ; Cao Xi ; Guo-zheng, Yan ; Song Li-bo

Author_Institution

Sch. of Electron. Inf. & Electr. Eng., Shanghai JiaoTong Univ., Shanghai, China

fYear

2011

fDate

5-7 Aug. 2011

Firstpage

1011

Lastpage

1014

Abstract

Taking the small unmanned four-rotor as a research object, the dynamic model of the small four-rotor was built according to Newton-Euler formalism. 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 of the small unmanned four-rotor was realized on the experimental platform. The simulation results and platform control experiment indicate that AIC is robust in the attitude control of the small unmanned four-rotor.

Keywords

adaptive control; attitude control; helicopters; mobile robots; remotely operated vehicles; stability; AIC theory; Newton-Euler formalism; adaptive inverse control theory; attitude stabilization control; small unmanned four-rotor control; Adaptation models; Attitude control; Control systems; Equations; Force; Mathematical model; Rotors; N-LMS algorithm; adaptive inverse control (AIC); modeLing; platform fLight experiment; simulation; small unmanned four-rotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Manufacturing and Automation (ICDMA), 2011 Second International Conference on

Conference_Location

Zhangjiajie, Hunan

Print_ISBN

978-1-4577-0755-1

Electronic_ISBN

978-0-7695-4455-7

Type

conf

DOI

10.1109/ICDMA.2011.250

Filename

6051867