Motion Control of a Quadrotor Aircraft via Singular Perturbations
Motion Control of a Quadrotor Aircraft via Singular Perturbations
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DOI：
10.5772/56785
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发表时间：
2013-10-25
影响因子：
2.3
通讯作者：
Moreno-Valenzuela, Javier
中科院分区：
文献类型：
--
作者：
Gonzalez-Vazquez, Salvador;Moreno-Valenzuela, Javier
介绍了一种新型的四旋翼飞行器运动控制器。讨论了动态模型控制输入的一种新形式，并给出了控制算法的构造形式。整个闭环系统的状态空间原点的稳定性证明依赖于奇异摄动系统理论。数值模拟证实了所提出的控制方案的可行性和稳定性的结论。在实际条件下的一组仿真，系统受到不同类型的干扰和非线性，如噪声和执行器饱和。
In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.