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

Abstract：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. 作者： Author： Ashfaq Ahmad MIAN  Dao-bo WANG 作者單位： College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 21O016, China 期 刊： 浙大學報（英文版）（A輯：應用物理和工程）   ISTICEISCI Journal： JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年，卷(期)： 2008, 9(4) 分類號： V249 Keywords： Quad rotor rotorcraft    MIMO model    Underactuated systems    機標分類號： TP2 O4 機標關鍵詞： nonlinear control    control strategy    feedback linearization    equations of motion    control algorithm    three dimensions    electric motor    methods of 基金項目：

【Dynamic modeling and nonlinear contr】相關文章：

A Study of Oceanic Reverberation Modeling Based on a Nonlinear Low-Dimensional Dynamic System05-03

NONLINEAR THEORY OF DYNAMIC STABILITY FOR LAMINATED COMPOSITE CYLINDRICAL SHELLS04-28

A Fuzzy-Neural Network Control of Nonlinear Dynamic Systems05-01

NONLINEAR MODELING AND CONTROLLING OF ARTIFICIAL MUSCLE SYSTEM USING NEURAL NETWORKS05-02

A study on the seismic behavior of a retrofitted building based on nonlinear static and dynamic analyses04-28

Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter04-28

Dynamic Response Analysis of Bird Strike on Aircraft Windshield Based on Damage-modified Nonlinear Viscoelastic Constitu04-30

DYNAMIC RESOURCES OF RIVER SEDIMENTS04-29

Lp-decay rates to nonlinear diffusion waves for p-system with nonlinear damping05-02

Research on Dynamic Model of the Human Body05-03