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(xué)報(bào)（英文版）（A輯：應(yīng)用物理和工程）   ISTICEISCI Journal： JOURNAL OF ZHEJIANG UNIVERSITY SCIENCE A 年，卷(期)： 2008, 9(4) 分類(lèi)號(hào)： V249 Keywords： Quad rotor rotorcraft    MIMO model    Underactuated systems    機(jī)標(biāo)分類(lèi)號(hào)： TP2 O4 機(jī)標(biāo)關(guān)鍵詞： nonlinear control    control strategy    feedback linearization    equations of motion    control algorithm    three dimensions    electric motor    methods of 基金項(xiàng)目：

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