Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter
In this article,a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism.The derivation comprises determining equations of the motion of the quadrotor in three dimensions andapproximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics.The derived modelcomposed of translatioual and rotational subsystems is dynamically unstable,so a sequential nonlinear control strategy is used.The con-trol strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor.The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter inquasi-stationary flights.
作 者： Ashfaq Ahmad Mian Wang Daobo 作者单位： College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 刊 名： 中国航空学报（英文版） ISTIC 英文刊名： CHINESE JOURNAL OF AERONAUTICS 年，卷(期)： 2008 21(3) 分类号： V2 关键词： underactuated systems quadrotor helicopter backstepping control