Abstract
This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.
Original language | English |
---|---|
Title of host publication | 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics |
Publisher | IEEE |
Pages | 3112-3117 |
Number of pages | 6 |
ISBN (Electronic) | 9781467391047 |
DOIs | |
Publication status | Published - 28 Sept 2015 |
Externally published | Yes |
Event | 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics - Yunnan, China Duration: 8 Aug 2015 → 10 Aug 2015 |
Conference
Conference | 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics |
---|---|
Country/Territory | China |
City | Yunnan |
Period | 8/08/15 → 10/08/15 |
Keywords
- control
- dynamic modeling
- LQR
- Quadrotor
- sliding mode control
ASJC Scopus subject areas
- Computer Networks and Communications
- Human-Computer Interaction
- Computational Theory and Mathematics
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications