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Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft
Abstract:In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight. 作者: Author: Ashfaq Ahmad MIAN Dao-bo WANG 作者单位: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 21O016, China 期 刊: 浙大学报(英文版)(A辑:应用物理和工程) ISTICEISCI Journal: JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年,卷(期): 2008, 9(4) 分类号: V249 Keywords: Quad rotor rotorcraft MIMO model Underactuated systems 机标分类号: TP2 O4 机标关键词: nonlinear control control strategy feedback linearization equations of motion control algorithm three dimensions electric motor methods of 基金项目:【Dynamic modeling and nonlinear contr】相关文章:
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