Research and Application of Nonlinear Control Techniques for Quad Rotor UAV
Quad rotor UAV is a classical multi-input and multi-output system, which is nonlinear, complicated and dynamically unstable. In this paper, quad rotor dynamics is considered to consist of translation and rotation subsystem. Nonlinear control strategy that includes Backstepping method and Slide mode technique for both translational and rotational dynamics are implemented for the quad rotor. The stability of the control design is ensured by Lyapunov global stability theorem. Additionally, in order to improve the dynamic response and avoid the violation of the control input constraints, the piecewise differentiable input is applied instead of the step input for the control of rotational subsystem. The performance of the nonlinear control algorithm is evaluated by simulation. Results from simulation validate effectiveness of the designed control strategy for quad rotor near quasi stationary (hover or near hover) flight. Finally, comparison between Backstepping and Slide mode is carried out briefly to highlight respective characteristics. In addition to that, conclusion is derived for this study and future work is proposed.
Quad rotor dynamics Nonlinear control Lyapunov global stability theorem Backstepping Slide mode
Qiong HU Qing Fei Qinghe Wu Qingbo Geng
Beijing Institute of Technology, Beijing 100081, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
706-710
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）