四旋翼无人机建模与GS-PID控制

Proceedings of the 2018 10th International Conference on Computer and Automation Engineering Pub Date : 2018-02-24 DOI:10.1145/3192975.3192990

Jinglai Qiao, Zhixiang Liu, Youmin Zhang

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引用次数: 2

摘要

本文建立了四旋翼垂直起降无人机的动力学模型。设计了一种基于增益调度的PID控制策略。控制任务过程包括程序路径跟踪和容错过程。最后给出了仿真结果以及该控制策略所取得的性能。数值算例说明了该方法的有效性。

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 GS-PID Control of the Quad-Rotor UAV

A dynamic model of a four rotor vertical take-off and landing unmanned aerial vehicle known as quad-rotor UAV is presented in this paper. A Gain-Scheduling based PID control strategy is designed. The control mission processes includes a programmed path tracking and a fault-tolerant process. Simulation results, as well as the performance achieved with this control strategy are shown. Numerical examples illustrate the effectiveness of the proposed approach.

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Proceedings of the 2018 10th International Conference on Computer and Automation Engineering

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