Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise
Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise
复制标题
不确定参数和高斯白噪声下四旋翼无人机的非线性建模与鲁棒控制
DOI：
10.1109/ismsit52890.2021.9604685
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
C. Kasnakoǧlu
中科院分区：
文献类型：
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作者：
Mehmet Karahan;A. Akay;C. Kasnakoǧlu
传感器和信息系统的最新进展加速了无人机的进步。四旋翼无人机（UAV）具有垂直起飞和降落的能力。得益于这一功能，与传统无人机不同，它不需要很长的跑道就能起飞。它的四个螺旋桨和垂直起降功能使它能够像直升机一样悬停和机动。针对四旋翼无人机在参数不确定性和白色高斯噪声干扰下的非线性建模和鲁棒控制器设计问题进行了研究。利用MATLAB/Simulink对四旋翼无人机进行了非线性建模。在理想条件下、参数不确定条件下和白色高斯噪声条件下，对四旋翼无人机的高度参考和姿态角跟踪能力进行了仿真验证。结果表明，该鲁棒控制器在正常情况下，在参数不确定和噪声条件下都能成功地跟踪给定的参考。
Latest progresses in sensors and information systems have accelerated the progress of unmanned aerial vehicles. Quadrotor unmanned aerial vehicles (UAVs) have the ability to take off and land vertically. Thanks to this feature, unlike conventional unmanned aerial vehicles, it does not need a long runway to take off. Its four propellers and vertical takeoff and landing feature give it the ability to hover and maneuver like helicopters. In this study, nonlinear modeling and robust controller design of a quadrotor UAV under parameter uncertainty and white Gaussian noise disturbance are explained. Nonlinear modeling of the Quadrotor UAV was done using MATLAB/Simulink. Altitude reference and attitude angles following capabilities of the quadrotor UAV have been tested with various simulations under ideal conditions, under uncertain parameters and under white Gaussian noise. The obtained results show that the robust controller can successfully track given references under normal conditions, under uncertain parameters and under noisy conditions.