Non-linear model based control and parameter identification of a hex-rotor UAV
Non-linear model based control and parameter identification of a hex-rotor UAV
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基于非线性模型的六旋翼无人机控制与参数识别
DOI：
10.1109/smc.2016.7844632
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
E. Badreddin
中科院分区：
文献类型：
--
作者：
Benjamin Kirsch;A. Alexopoulos;E. Badreddin
一个非线性控制方案的六角转子的实施。由姿态、速度和位置控制级组成的级联控制方案使六角旋翼能够容易地升级为更复杂的行为。姿态控制采用反推方法，该方法由Bouabdallah [1]引入用于四旋翼，后来由Arellano-Muro [2]改进并适用于六旋翼。速度和位置控制器的实现遵循Voos [3]。参数，必要的模型为基础的控制数字识别，与直接测量的帮助下，并通过使用飞行实验数据和参数估计技术。控制器的验证是通过分析真实的飞行数据来完成的，这些数据是在室外飞行实验中获得的，测试了手动飞行和位置保持。
An implementation of a non-linear control scheme for hex rotors will be presented. The cascaded control scheme consisting of an attitude, a velocity and a position control level, empowers the hex rotor to be easily upgraded with more sophisticated behaviors. The attitude control utilizes the backstepping approach, which was introduced by Bouabdallah [1] for quad rotors, later improved and adapted to hex rotors by Arellano-Muro [2]. The implementation of the velocity and position controllers follow Voos [3]. Parameters, necessary for the model based control were identified numerically, with the help of direct measurement and by the use of flight experiment data and parameter estimation techniques. Validation of the controllers is done by analyzing real flight data, which was taken during outdoor flight experiments, testing both manual flight and position hold.