Adaptive position control of quad-rotor helicopter in quaternion based on input-output linearization

Author

Kutsuna, Yuta ; Ando, Makoto ; Yamada, Makoto

Author_Institution

Dept. of Eng., Nagoya Inst. of Technol., Nagoya, Japan

fYear

2014

fDate

10-12 Aug. 2014

Firstpage

243

Lastpage

248

Abstract

In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations. This paper presents a useful exact input-output linearization of the helicopter by using a nonsingular input transformation. This linearization provides both simple controller designs and higher level control performance, for example, the optimal and H-infinity control.

Keywords

H^∞ control; adaptive control; control system synthesis; helicopters; linearisation techniques; nonlinear equations; position control; H-infinity control; adaptive position control; controller design; input-output linearization; nonlinear equations; nonsingular input transformation; optimal control; quad-rotor helicopter; Adaptive control; Angular velocity; Helicopters; Mathematical model; Position control; Quaternions; Adaptive position control; Linearization; Nonlinear system; Quad-rotor helicopter; Quaternion;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2014 International Conference on

Conference_Location

Kumamoto

Type

conf

DOI

10.1109/ICAMechS.2014.6911658

Filename

6911658

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=257069