Dynamic state-derivative feedback control for quadrotor helicopters
Dynamic state-derivative feedback control for quadrotor helicopters
复制标题
四旋翼直升机动态微分反馈控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
T. Takimoto
中科院分区：
文献类型：
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作者：
Takashi Shigekuni;T. Takimoto
研究了传感器偏置的四旋翼直升机的姿态稳定问题。传感器偏移产生非零稳态输入和输出，即使四旋翼直升机是稳定的。在以往的研究中，已经研究了稳定控制器的稳态阻塞零点起着重要的作用。本文提出了一种动态状态微分反馈控制器的设计方法。然后，我们表明，所提出的状态微分控制器消除了在稳态和稳定的四旋翼直升机的姿态偏差。
We consider an attitude stabilization of a quadrotor helicopter with a sensor offset by a state-derivative feedback controller. The sensor offset produces non-zero steady-state input and output, even if the quadrotor helicopter is stabilized. In previous research, it has been investigated that steady-state blocking zeros of the stabilizing controller play an important role. In this paper, we develop a design method for a dynamic state-derivative feedback controller. Then, we show that the proposed state-derivative controller eliminates the bias in the steady-state and stabilizes the quadrotor helicopter attitude.