Abstract
In the dynamic modeling, significant aerodynamic effects arising from the blade deformation of the rotor and the induced momentum are taken into account. The model is capable of representing the quadrotor behavior for more flight regimes, including not only hover but also high-speed and translational flights. Such a model can benefit the controller design from the improvement of the stability as well as the reduction of development period. Furthermore, a hybrid control scheme incorporating optimal linear quadratic regulator (LQR) and robust sliding mode control (SMC) techniques is designed in a hierarchical multiple-layer structure. In actual practice, only partial states of the quadrotor are readily measurable. A reduced-order observer is hence developed and integrated into the compensator to estimate the unmeasured states. The simulation results show that the designed controller can achieve outstanding performance which is greatly superior than conventional control techniques can do.
Original language | English |
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Pages (from-to) | 51-64 |
Number of pages | 14 |
Journal | Measurement: Journal of the International Measurement Confederation |
Volume | 109 |
DOIs | |
Publication status | Published - 1 Oct 2017 |
Keywords
- Aerodynamic effect
- Dynamic modeling
- Flight control
- Observer design
- UAV quadrotor
ASJC Scopus subject areas
- Instrumentation
- Electrical and Electronic Engineering