Title :
Design of Nonlinear Aero Controller and Simulation for Quadrotor Unmanned Aerial Vehicles
Author :
Yao Ming ; Xu Yunqing
Author_Institution :
Dept. of Autom., Xiamen Univ., Xiamen, China
Abstract :
This paper mainly presents development of nonlinear model of quad rotor unmanned aerial vehicles (named as QUAV-X4), design of nonlinear aero controller and analyzing stabilization of the model. Firstly, we introduce the principle of flight of quad rotor briefly. Secondly, with application of blade element theorem [1] and analysis of aerodynamic characteristics of QUAV-X4, the aero model is derived. Finally, designing a nonlinear control system, based on PID technique and Back stepping method [2], and simulation for observing the stabilization.
Keywords :
aerodynamics; autonomous aerial vehicles; blades; control system synthesis; helicopters; nonlinear control systems; stability; three-term control; PID technique; QUAV-X4; aero model; aerodynamic characteristics; back stepping method; blade element theorem; nonlinear aero controller design; nonlinear aero controller simulation; quadrotor unmanned aerial vehicles; stabilization analysis; Aerodynamics; Backstepping; Blades; Force; Rotors; Torque; Unmanned aerial vehicles; Backstepping; blade element theorem; nonlinear aero control; quadrotor; unmanned aerial vehicles;
Conference_Titel :
Software Engineering (WCSE), 2013 Fourth World Congress on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4799-2882-8
DOI :
10.1109/WCSE.2013.52
