Robust flight control of quadrotor unmanned air vehicles

Jiqiren/Robot

Volumn 34, Issue 5, 2012, Pages 519-524

  Bai, Yongqiang ^a,b   Liu, Hao ^a   Shi, Zongying ^a   Zhong, Yisheng ^a  

^a TSINGHUA UNIVERSITY   (China)

^b No 63880 Unit of PLA   (China)

Author keywords

Flight control; Quadrotor UAV (unmanned air vehicle); Robust compensation

Indexed keywords

ATTITUDE CONTROLLER; CONTROL APPROACH; FLIGHT CONTROL; FLIGHT CONTROL PROBLEMS; PD METHODS; POSITION CONTROLLER; QUADROTORS; ROBUST CONTROLLER DESIGN; SIGNAL COMPENSATION; UNMANNED AIR VEHICLE (UAVS);

ATTITUDE CONTROL; ROBUST CONTROL; UNMANNED AERIAL VEHICLES (UAV);

CONTROLLERS;

EID: 84868635479     PISSN: 10020446     EISSN: None     Source Type: Journal    
DOI: 10.3724/SP.J.1218.2012.00519     Document Type: Article

References (21)

1. Yue J L, Zhang Q J, Zhu H Y. Research progress and key technologies of micro quad-rotor UAVs [J]. Electronics Optics and Control, 2010, 17(10): 46-52.
2. Nie B W, Ma H X, Wang J, et al. Study on actualities and critical technologies of micro/mini quadrotor [J]. Electronics Optics and Control, 2007, 14(6): 113-117.
3. Altug E, Ostrowski J P, Taylor C J. Quadrotor control using dual camera visual feedback [C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2003: 4294-4299.
4. Valenti M, Bethke B, Fiore G, et al. Indoor multi-vehicle flight testbed for fault detection, isolation, and recovery [C]//Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit. Reston, VA, USA: AIAA, 2006.
5. Bouabdallah S, Siegwart R. Full control of a quadrotor [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2007: 153-158.
6. Pounds P, Mahony R, Corke P. Modelling and control of a large quadrotor robot [J]. Control Engineering Practice, 2010, 18(7): 691-699.
7. Hoffmann G M, Huang H M, Waslander S L, et al. Precision flight control for a multi-vehicle quadrotor helicopter testbed [J]. Control Engineering Practice, 2011, 19(9): 1023-1036.
8. Alexis K, Nikolakopoulos G, Tzes A. Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances [J]. Control Engineering Practice, 2011, 19(10): 1195-1207.
9. Mellinger D, Kumar V. Minimum snap trajectory generation and control for quadrotors [C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2011: 2520-2525.
10. Liu X J. Study and implementation of position and attitude estimation for four-rotor mini rotorcraft based on vision [D]. Changchun, China: Jilin University, 2009.
11. Salih A L, Moghavvemi M, Mohamed H A F, et al. Modelling and PID controller design for a quadrotor unmanned air vehicle [C]//IEEE International Conference on Automation, Quality and Testing, Robotics. Piscataway, NJ, USA: IEEE, 2010.
12. Su J Y, Fan P H, Cai K Y. Attitude control of quadrotor aircraft via nonlinear PID [J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(9): 1054-1058.
13. Bouabdallah S, Noth A, Siegwart R. PID vs LQ control techniques applied to an indoor micro quadrotor [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2004: 2451-2456.
14. Benallegue A, Mokhtari A, Fridman L. Feedback linearization and high order sliding mode observer for a quadrotor UAV [C]//International Workshop on Variable Structure Systems. Piscataway, NJ, USA: IEEE, 2006: 365-372.
15. Waslander S L, Hoffmann G M, Jang J S, et al. Multi agent quadrotor testbed control design: Integral sliding-mode vs. reinforcement learning [C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems. Piscataway, NJ, USA: IEEE, 2005: 468-473.
16. Bouabdallah S, Siegwart R. Backstepping and sliding mode techniques applied to an indoor micro quadrotor [C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2005: 2247-2252.
17. ∞ control structure for a quadrotor helicopter [J]. Automatica, 2010, 46(1): 29-39.
18. Zhong Y S. Robust output tracking control of SISO plants with multiple operating points and with parametric and unstructured uncertainties [J]. International Journal of Control, 2002, 75(4): 219-241.
19. Zhong Y S. Robust control based on signal compensation [J]. Journal of Tsinghua University: Science and Technology, 2003, 43(4): 542-563.
20. Bouabdallah S, Murrieri P, Siegwart R. Design and control of an indoor micro quadrotor [C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2004: 4393-4398.
21. Liu H, Yu Y, Lu G, et al. Robust LQR attitude control of a 3DOF lab helicopter [C]//29th Chinese Control Conference. Piscataway, NJ, USA: IEEE, 2010: 529-534.