旋翼无人机高度与偏航控制器的比较研究

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441034

Alexandre Da S. Fernandes, A. Brandão, Elmer R. Llanos Villarreal

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引用次数: 2

摘要

本文简要介绍了四旋翼飞行器的工作原理及其高级动力学模型。提出了高度控制器和偏航控制器的设计方案。本文根据积分绝对误差(IAE)和控制信号能量标准对PID、LQR (LQRI)和Lyapunov控制技术进行了比较。性能是根据完成任务所花费的响应时间和精力来分析的。在建立准则的最大值后，通过仿真确定了最优控制器增益。在此过程中，对控制器进行了实验验证，并在实际的调节和轨迹跟踪任务中进行了比较。

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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A comparative study of altitude and yaw controllers for rotorcraft UAV

The paper presents a brief study of quadrotor vehicle, its principle of operation and its high-level dynamic model. The proposal of altitude and yaw controllers is also presented. PID, LQR (LQRI) and Lyapunov based control techniques are here compared according to Integral Absolute Error (IAE) and Control Signal Energy criteria. The performance is analyzed in terms of the response time and energy spent to accomplish the task. The optimum controller gains are defined by simulation, after establishing the maximum value of the criteria. In the sequence, some experiments are run to validate the controllers and to compared them in real scenarios of regulation and trajectory tracking tasks.

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来源期刊

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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