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Issue:
Robust Flight Control of Quadrotor Unmanned Air Vehicles
Author(s):
BAI Yongqiang
,
LIU Hao
,
SHI Zongying
,
ZHONG Yisheng
Pages:
519
-
524
Year:
2012
Issue:
5
Journal:
Robot
Keyword:
四旋翼无人直升机
;
飞行控制
;
鲁棒补偿
;
Abstract:
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.
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