四旋翼飞行器的建模与鲁棒姿态控制

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-12-02 DOI:10.1109/ICEEE.2013.6676024

Angelica Torres Gaitan, Y. Bolea

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引用次数: 22

摘要

介绍了四旋翼多输入多输出系统(UAV)的非线性模型和姿态鲁棒控制。利用系统各通道之间的低耦合特性，将无人机的动力学模型转化为LTI系统，并用SISO系统进行逼近。在国家理工学院研究和高级研究中心(CINVESTAV)实施的系统中采用了未知的模型参数。最后，利用H∞理论设计了鲁棒控制器。通过MATLAB仿真验证了该控制方法的有效性和性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling and robust attitude control of a quadrotor system

This paper describes the no-lineal model, and attitude Robust control of a Quadrotor MIMO System (UAV). The dynamic model of the UAV is transformed into a LTI system and approximated by a SISO system due to the low coupling among the canals of the system. The unknown model parameters have been taken of the system implemented in the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV). Finally, robust controller has been designed using H∞ theory. The effectiveness and performance of the proposed control approach have been proved in simulation using MATLAB.

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2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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