Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft

作     者：Ashfaq Ahmad MIAN 

作者机构：College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2008年第9卷第4期

页      码：539-545页

摘      要：In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.

主 题 词：Quad rotor rotorcraft MIMO model Underactuated systems 

学科分类：0810[工学-土木类] 08[工学] 081001[081001] 

核心收录：

D　O　I：10.1631/jzus.A071434

馆 藏 号：203625012...