基于分段双线性模型的动态反馈线性化四旋翼控制

2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA) Pub Date : 2014-12-01 DOI:10.1109/CICA.2014.7013234

T. Taniguchi, Luka Eciolaza, M. Sugeno

{"title":"基于分段双线性模型的动态反馈线性化四旋翼控制","authors":"T. Taniguchi, Luka Eciolaza, M. Sugeno","doi":"10.1109/CICA.2014.7013234","DOIUrl":null,"url":null,"abstract":"This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.","PeriodicalId":340740,"journal":{"name":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Quadrotor control using dynamic feedback linearization based on piecewise bilinear models\",\"authors\":\"T. Taniguchi, Luka Eciolaza, M. Sugeno\",\"doi\":\"10.1109/CICA.2014.7013234\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.\",\"PeriodicalId\":340740,\"journal\":{\"name\":\"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)\",\"volume\":\"106 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CICA.2014.7013234\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CICA.2014.7013234","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 10

摘要

提出了一种基于分段双线性模型的动态反馈线性化四旋翼直升机机器人跟踪控制器。近似模型是全参数化的。采用输入输出(I/O)动态反馈线性化来稳定PB控制系统。虽然控制器比传统的I/O反馈线性化控制器简单，但基于PB模型的控制性能与传统的控制性能相同。通过计算机仿真，验证了所提方案的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Quadrotor control using dynamic feedback linearization based on piecewise bilinear models

This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2014 IEEE Symposium on Computational Intelligence in Control and Automation (CICA)

自引率

0.00%

发文量