Energy-based nonlinear control for a quadrotor rotorcraft
Energy-based nonlinear control for a quadrotor rotorcraft
复制标题
四旋翼旋翼飞行器基于能量的非线性控制
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
I. Fantoni
中科院分区：
文献类型：
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作者：
L. Hernández;O. Santos‐Sánchez;P. Castillo;I. Fantoni
本文介绍了一种用于稳定四旋翼飞行器的次优反馈控制。该方法利用了被动性和动态规划理论。控制设计基于李亚普诺夫函数的命题，该函数被定义为系统的能量函数，同时也是与非线性系统最优问题相关的贝尔曼函数的近似。为了验证控制策略，进行了各种模拟。
A sub-optimal feedback control to stabilize a quadrotor vehicle is introduced in this paper. The approach makes use of the passivity property and the dynamic programming theory. The control design is based on the proposition of a Lyapunov function which has been defined as the energetic function for the system and, at the same time, is an approximation of the Bellman function associated with the optimal problem for nonlinear systems. To validate the control strategy, various simulations have been carried out.