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On-line aerodynamic identification of quadrotor and its application to tracking control
Lei, Wenchao1,2; Li, Chanying1,2
AbstractThis 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.
Keywordhelicopters 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
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000415220200017
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Document Type期刊论文
Corresponding AuthorLi, Chanying
Affiliation1.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
Recommended Citation
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.
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