文章基本信息

标题：Attitude and position controller design and implementation for a quadrotor
作者：Maziar Mardan ; Masoumeh Esfandiari ; Nariman Sepehri 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：3
DOI：10.1177/1729881417709242
语种：English
出版社：SAGE Publications
摘要：The performance of quadrotors can be significantly disturbed in the presence of wind. In this article, a simple-to-implement attitude controller is proposed to render a robust and accurate trajectory tracking in the presence of disturbance and model uncertainties. The attitude controller design is based on quantitative feedback theory. A fuzzy logic controller is further employed to provide a satisfactory position trajectory tracking for the quadrotor. The performances of the controllers, in terms of disturbance rejection and trajectory tracking, are experimentally studied. Finally, a flight scenario is performed that compares the performance of the designed quantitative feedback theory-fuzzy control scheme with the ArduCopter controller.
关键词：Quadrotor; quantitative feedback control; fuzzy logic control; flight control; disturbance rejection