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  • 标题:Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning
  • 本地全文:下载
  • 作者:Douglas A. Tesch ; Douglas A. Tesch ; Diego Eckhard
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2016
  • 卷号:49
  • 期号:30
  • 页码:30-35
  • DOI:10.1016/j.ifacol.2016.11.118
  • 语种:English
  • 出版社:Elsevier
  • 摘要:Abstract: Quadcopter is a type of Unmanned Aerial Vehicle which is lifted and propelled by four rotors. The vehicle has a complex non-linear dynamic which makes the tuning of the roll and pitch controllers difficult. Usually the control design is based on a mathematical model which is strongly related to physical components of vehicle: mass, moment of inertia and aerodynamic. When a tool is attached to the vehicle, a new model must be computed to redesign the controllers. In this article we will adjust the controllers of a real experimental quadcopter using the Cascade Iterative Feedback Tuning method. The method is data-driven, so it does not uses a model for the vehicle; all it uses is input-output data collect from the closed-loop system. The method minimizes the H 2 error between the desired response and the actual response of the vehicle angle using the Newton-Raphson algorithm. The method achieves the desired performance without the need of the vehicle model, with low cost and low complexity.
  • 关键词:KeywordsUAVs Application
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