多转子盘式飞行机器人控制系统的研究与设计

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI:10.1109/CONTROL.2014.6915163

I. Yamamoto, Rui Zhu, J. Whidborne, Aryeh Marks

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引用次数: 1

摘要

本文介绍了一种用于空中观测平台的多旋翼盘式飞行机器人的研制。给出了系统的模型。提出了一种基于最优线性二次型调节器的控制系统。在仿真模型上对该控制器进行了测试，结果表明该控制器具有参考轨迹的跟踪能力和对环境干扰的鲁棒性。

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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Research and design on a control system for a disk-type flying robot with multiple rotors

This paper describes the development of a disk-type flying robot with multiple rotors for use as an aerial observation platform. Models for the system are presented. A control system based on the optimal linear quadratic regulator is proposed. The controller is tested on the simulation model and shown to provide tracking of the reference trajectory and robustness against environmental disturbances.

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2014 UKACC International Conference on Control (CONTROL)

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