Generalized Predictive Control with Dynamic Compensation for Quadrotor Attitude Stabilization

摘要：

　　This work present a linear generalized predictive controller(GPC)to stabilize the attitude of the quadrotor.Without the conventional linearization method or identification online,a dynamic compensation linearization approach with extended state observer(ESO)was provided to linearize the attitude dynamic.Then,a generalized predictive controller based on a linear nominal model was designed for the attitude of the quadrotor.The controller in this study not only reduces the computer process,but also increases the robustness of the system.The simulation results indicate the good performance of the controller applying to the quadrotor attitude stabilization.

关键词： predictive control extended state observer quadrotor attitude

作者: LIU Chao Tang Shengjing Yang Shengyi Li Yanhui

作者单位: Key Laboratory of Dynamics and Control of Flight Vehicle,Ministry of Education,School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 7709-7714

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）