{"title":"基于奇异摄动方法的小型四旋翼飞行器平台姿态控制改进:实时应用","authors":"I. González, S. Salazar, J. Torres, R. Lozano","doi":"10.1109/ROBIO.2012.6491322","DOIUrl":null,"url":null,"abstract":"In this article, an attitude control in real-time is proposed using a inner loop control in each BrushLess DC (BLDC) motor to improve performance of a small Quad-rotor aircraft platform. The inner loop control is implemented by motor speed sensing feedback through reflex sensors in order to obtain a robust stabilization of the vehicle in hovering mode for indoor and outdoor applications. In addition, a control law based on Lyapunov Control Function (LCF) is proposed and extended to the singular perturbations problem for the corresponding stability analysis of the inner loop control that manages the angular velocity of the BLDC motors. Finally, experimental results show that the proposed real-time controller-based motor speed sensing feedback produces better control performance, particularly in handling external disturbances.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Attitude control improvement of a small Quad-rotor aircraft platform based on singular perturbations approach: Real-Time application\",\"authors\":\"I. González, S. Salazar, J. Torres, R. Lozano\",\"doi\":\"10.1109/ROBIO.2012.6491322\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this article, an attitude control in real-time is proposed using a inner loop control in each BrushLess DC (BLDC) motor to improve performance of a small Quad-rotor aircraft platform. The inner loop control is implemented by motor speed sensing feedback through reflex sensors in order to obtain a robust stabilization of the vehicle in hovering mode for indoor and outdoor applications. In addition, a control law based on Lyapunov Control Function (LCF) is proposed and extended to the singular perturbations problem for the corresponding stability analysis of the inner loop control that manages the angular velocity of the BLDC motors. Finally, experimental results show that the proposed real-time controller-based motor speed sensing feedback produces better control performance, particularly in handling external disturbances.\",\"PeriodicalId\":426468,\"journal\":{\"name\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"114 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2012.6491322\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2012.6491322","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Attitude control improvement of a small Quad-rotor aircraft platform based on singular perturbations approach: Real-Time application
In this article, an attitude control in real-time is proposed using a inner loop control in each BrushLess DC (BLDC) motor to improve performance of a small Quad-rotor aircraft platform. The inner loop control is implemented by motor speed sensing feedback through reflex sensors in order to obtain a robust stabilization of the vehicle in hovering mode for indoor and outdoor applications. In addition, a control law based on Lyapunov Control Function (LCF) is proposed and extended to the singular perturbations problem for the corresponding stability analysis of the inner loop control that manages the angular velocity of the BLDC motors. Finally, experimental results show that the proposed real-time controller-based motor speed sensing feedback produces better control performance, particularly in handling external disturbances.