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首页> 外文期刊>WSEAS Transactions on Systems >The attitude control of the four-rotor unmanned helicopter based on feedback linearization control
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The attitude control of the four-rotor unmanned helicopter based on feedback linearization control

机译：基于反馈线性化控制的四旋翼无人机姿态控制

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摘要

This work is a contribution to stable attitudes control of the small scale four-rotor helicopter. The small scale four-rotor helicopter is a multi-variable strong coupling nonlinear system, especially its complicated attitude control. In order to control the attitude of the helicopter, the deliberate dynamics and kinematics of four-rotor helicopter attitude model was established. Based on the model derived, the feedback linearization method was utilized to decouple model and control the system. According to the characteristics of the attitude in the helicopter's whole motion process, two control tasks were numerically performed, and the corresponding simulation results show that the proposed control strategy behaves remarkably well. This work also built the foundation for the position control of the helicopter.
机译：这项工作有助于稳定小型四旋翼直升机的姿态控制。小型四旋翼直升机是一个多变量强耦合非线性系统，尤其是其复杂的姿态控制。为了控制直升机的姿态，建立了四旋翼直升机姿态模型的故意动力学和运动学。基于导出的模型，使用反馈线性化方法对模型进行解耦和控制系统。根据直升机整个运动过程中姿态的特点，对两个控制任务进行了数值模拟，相应的仿真结果表明所提出的控制策略具有良好的控制性能。这项工作还为直升机的位置控制奠定了基础。

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