Modeling and Trajectory Tracking Control of a Quad-rotor UAV

摘要：

　　The trajectory tracking control of a quad-rotor UAV is discussed in this paper.Firstly,establish the system model by the Eula-Lagrange method.Decompound the system as the position and attitude subsystem,respectively.The backstepping approach based calculation method is proposed to obtain the expected attitude which stabilizes the position subsystem exponentially,farther more,design the controller to stabilize the attitude subsystem exponentially.The simulation results prove that this approach is able to track arbitrarytrajectories of a Quad-rotor UAV.

关键词： UAV Trajectory tracking control Eula-Lagrange method Backstepping approach

作者: Dexin Xu Lu Wang Guangehun Li Lidong Guo

作者单位: College of Automation Harbin Engineering University Harbin, 150001, China

会议类型: 国际会议

会议名称: 2012 2nd International Conference on Computer Application and System Modeling(2012第二届计算机应用与系统建模国际会议)(ICCASM-2012)

会议地点: 沈阳

会议语种:英文

页码: 1015-1018

在线出版日期: 2012-07-27（万方平台首次上网日期，不代表论文的发表时间）