Quadrotor control using dynamic feedback linearization based on piecewise bilinear models
Quadrotor control using dynamic feedback linearization based on piecewise bilinear models
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DOI：
10.1109/cica.2014.7013234
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发表时间：
2014-12
期刊：
影响因子：
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通讯作者：
T. Taniguchi;Luka Eciolaza;M. Sugeno
中科院分区：
文献类型：
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作者：
T. Taniguchi;Luka Eciolaza;M. Sugeno
提出了一种基于分段双线性（PB）模型的四旋翼直升机机器人动态反馈线性化跟踪控制器。近似模型是完全参数化的。输入输出（I/O）动态反馈线性化的PB控制系统的稳定。虽然该控制器比传统的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控制器相同。通过计算机模拟的例子证实了我们的建议的可行性。
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.