Title :
Research on Small Unmanned Four-rotor Control Based on AIC
Author :
Li Jin-song ; Cao Xi ; Guo-zheng, Yan ; Song Li-bo
Author_Institution :
Sch. of Electron. Inf. & Electr. Eng., Shanghai JiaoTong Univ., Shanghai, China
Abstract :
Taking the small unmanned four-rotor as a research object, the dynamic model of the small four-rotor was built according to Newton-Euler formalism. Adaptive Inverse Control (AIC) Theory was used in the control of the small unmanned four-rotor for the first time and the attitude stabilization control of the small unmanned four-rotor was realized on the experimental platform. The simulation results and platform control experiment indicate that AIC is robust in the attitude control of the small unmanned four-rotor.
Keywords :
adaptive control; attitude control; helicopters; mobile robots; remotely operated vehicles; stability; AIC theory; Newton-Euler formalism; adaptive inverse control theory; attitude stabilization control; small unmanned four-rotor control; Adaptation models; Attitude control; Control systems; Equations; Force; Mathematical model; Rotors; N-LMS algorithm; adaptive inverse control (AIC); modeLing; platform fLight experiment; simulation; small unmanned four-rotor;
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2011 Second International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-1-4577-0755-1
Electronic_ISBN :
978-0-7695-4455-7
DOI :
10.1109/ICDMA.2011.250
