On-line aerodynamic identification of quadrotor and its application to tracking control

doi:10.1049/iet-cta.2017.0664

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	On-line aerodynamic identification of quadrotor and its application to tracking control
	Lei, Wenchao 1,2; Li, Chanying1,2
	2017-11-24
发表期刊	IET CONTROL THEORY AND APPLICATIONS
ISSN	1751-8644
卷号	11 期号:17 页码:3097-3106
摘要	This study investigates the aerodynamic effects and the tracking control problem of quadrotor-type unmanned aerial vehicles. The authors first present the on-line identification of the aerodynamic parameters by using the recursive least squares algorithm based on the measurement outputs of the accelerometer. Then, the non-linear discrete-time trajectory tracking controllers with aerodynamic compensation have been designed. Through identifying and compensating the external aerodynamics on line, the simulation results show that the tracking performance has been enhanced, especially when the vehicle is in some flight envelopes where the aerodynamics have significant effects on the quadrotor dynamics, such as the large-acceleration flight regime.
关键词	helicopters autonomous aerial vehicles mobile robots trajectory control compensation nonlinear control systems discrete time systems aerodynamics online aerodynamic identification quadrotor tracking control aerodynamic effects quadrotor-type unmanned aerial vehicles recursive least squares algorithm aerodynamic parameters accelerometer nonlinear discrete-time trajectory tracking controllers aerodynamic compensation large-acceleration flight regime
DOI	10.1049/iet-cta.2017.0664
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000415220200017
出版者	INST ENGINEERING TECHNOLOGY-IET
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/26800
专题	系统科学研究所
通讯作者	Li, Chanying
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Lei, Wenchao,Li, Chanying. On-line aerodynamic identification of quadrotor and its application to tracking control[J]. IET CONTROL THEORY AND APPLICATIONS,2017,11(17):3097-3106.
APA	Lei, Wenchao,&Li, Chanying.(2017).On-line aerodynamic identification of quadrotor and its application to tracking control.IET CONTROL THEORY AND APPLICATIONS,11(17),3097-3106.
MLA	Lei, Wenchao,et al."On-line aerodynamic identification of quadrotor and its application to tracking control".IET CONTROL THEORY AND APPLICATIONS 11.17(2017):3097-3106.