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首页> 外文会议>Seventh International Symposium on Mechatronics and its Applications (ISMA' 10) >Linear vs. nonlinear control techniques for a quadrotor vehicle
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Linear vs. nonlinear control techniques for a quadrotor vehicle

机译：四旋翼飞行器的线性与非线性控制技术

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The aim of this paper is to propose a nonlinear control algorithm that is able to stabilize the attitude and altitude of a quadrotor vehicle, and then to compare it with the classical techniques, such as PID and LQR. The nonlinear algorithm is based on the backstepping methodology integrated with the integral and adaptation schemes. It''s called “Adaptive Integral Backstepping Controller” (AIBC). The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the quadrotor model. Furthermore, a quadrotor vehicle is designed and modeled in this paper to perform the controlling task
机译：本文的目的是提出一种能够使四旋翼飞行器的姿态和高度稳定的非线性控制算法，然后将其与经典技术（如PID和LQR）进行比较。非线性算法基于集成了积分和自适应方案的反推方法。它被称为“自适应积分反演控制器”（AIBC）。反推技术中的递归Lyapunov方法将确保系统稳定性，积分作用将提高系统抗干扰性和模型不确定性的鲁棒性，而自适应律将估计由假设导致的建模误差，以简化四旋翼模型的复杂性。此外，本文设计并建模了四旋翼飞行器以执行控制任务

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