Dynamic modeling for high-performance controller design of a UAV quadrotor

Yi Rui Tang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

15 Citations (Scopus)

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 languageEnglish
Title of host publication2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
PublisherIEEE
Pages3112-3117
Number of pages6
ISBN (Electronic)9781467391047
DOIs
Publication statusPublished - 28 Sep 2015
Externally publishedYes
Event2015 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 201510 Aug 2015

Conference

Conference2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Country/TerritoryChina
CityYunnan
Period8/08/1510/08/15

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

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