UM
Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor
Tang, Yi-Rui; Xiao, Xiao; Li, Yangmin
2017-10
Source PublicationMEASUREMENT
ISSN0263-2241
Volume109Pages:51-64
AbstractThis paper presents a detailed nonlinear dynamic model and the development of a flight control scheme for an unmanned aerial vehicle (UAV) quadrotor. 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. (C) 2017 Elsevier Ltd. All rights reserved.
KeywordUAV quadrotor Dynamic modeling Aerodynamic effect Flight control Observer design
DOI10.1016/j.measurement.2017.05.036
URLView the original
Indexed BySCI
Language英语
WOS Research AreaEngineering ; Instruments & Instrumentation
WOS SubjectEngineering, Multidisciplinary ; Instruments & Instrumentation
WOS IDWOS:000405973100007
PublisherELSEVIER SCI LTD
The Source to ArticleWOS
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Citation statistics
Cited Times [WOS]:8   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Tang, Yi-Rui,Xiao, Xiao,Li, Yangmin. Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor[J]. MEASUREMENT,2017,109:51-64.
APA Tang, Yi-Rui,Xiao, Xiao,&Li, Yangmin.(2017).Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor.MEASUREMENT,109,51-64.
MLA Tang, Yi-Rui,et al."Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor".MEASUREMENT 109(2017):51-64.
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