白永强, 刘昊, 石宗英, 钟宜生. 四旋翼无人直升机鲁棒飞行控制[J]. 机器人, 2012, 34(5): 519-524. DOI: 10.3724/SP.J.1218.2012.00519
引用本文: 白永强, 刘昊, 石宗英, 钟宜生. 四旋翼无人直升机鲁棒飞行控制[J]. 机器人, 2012, 34(5): 519-524. DOI: 10.3724/SP.J.1218.2012.00519
BAI Yongqiang, LIU Hao, SHI Zongying, ZHONG Yisheng. Robust Flight Control of Quadrotor Unmanned Air Vehicles[J]. ROBOT, 2012, 34(5): 519-524. DOI: 10.3724/SP.J.1218.2012.00519
Citation: BAI Yongqiang, LIU Hao, SHI Zongying, ZHONG Yisheng. Robust Flight Control of Quadrotor Unmanned Air Vehicles[J]. ROBOT, 2012, 34(5): 519-524. DOI: 10.3724/SP.J.1218.2012.00519

四旋翼无人直升机鲁棒飞行控制

Robust Flight Control of Quadrotor Unmanned Air Vehicles

  • 摘要: 讨论了四旋翼无人直升机的飞行控制问题,提出了一种鲁棒控制器设计方法.该控制器由内环姿态控制器和外环位置控制器两部分组成,姿态控制器采用基于信号补偿的鲁棒控制方法,位置控制器由经典的PD 控制实现.将该控制器用于实验室自主研制的四旋翼无人直升机系统,实现了室内悬停飞行.实验结果验证了该控制方法的有效性.

     

    Abstract: For quadrotor unmanned air vehicles (UAVs) flight control problem, a robust controller design approach is presented. The controller consists of two parts: an inner-loop attitude controller and an outer-loop position controller. The attitude controller is designed with robust control based on signal compensation. The position controller is realized with classical PD method. It is applied to a quadrotor UAV developed in our laboratory to realize indoor hovering. Experimental results demonstrate the effectiveness of this control approach.

     

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