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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests
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Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests

机译：用于点跟踪的四旋翼飞机的非线性控制：实际实现和实验测试

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摘要

In this paper, a nonlinear control scheme along with its simulation and experimental results for a quadrotor are presented. It is not easy to control the quadrotor because the dynamics of quadrotor, which is obtained via the approach, has the features of underactuated, strongly coupled terms, uncertainty, and multiinput/multioutput. We propose a new nonlinear controller by using a backstepping-like feedback linearization method to control and stabilize the quadrotor. The designed controller is divided into three subcontrollers which are called attitude controller, altitude controller, and position controller. Stability of the designed controller is verified by the Lyapunov stability theorem. Detailed hardware parameters and experimental setups to implement the proposed nonlinear control algorithms are presented. The validity of proposed control scheme is demonstrated by simulations under different simulation scenarios. Experimental results show that the proposed controller is able to carry out the tasks of taking off, hovering, and positioning.
机译：本文提出了一种非线性控制方案，以及四转子的仿真和实验结果。通过这种方法获得的四旋翼动力学具有驱动不足，强耦合项，不确定性和多输入/多输出的特征，因此控制四旋翼并不容易。我们提出了一种新的非线性控制器，该方法采用类似反步的反馈线性化方法来控制和稳定四旋翼。设计的控制器分为三个子控制器，分别称为姿态控制器，高度控制器和位置控制器。 Lyapunov稳定性定理证明了所设计控制器的稳定性。给出了实现所提出的非线性控制算法的详细硬件参数和实验设置。通过在不同的仿真场景下进行仿真，证明了所提出的控制方案的有效性。实验结果表明，所提出的控制器能够执行起降，悬停和定位任务。

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