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On-line aerodynamic identification of quadrotor and its application to tracking control
Lei, Wenchao1,2; Li, Chanying1,2
2017-11-24
Source PublicationIET CONTROL THEORY AND APPLICATIONS
ISSN1751-8644
Volume11Issue:17Pages:3097-3106
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
DOI10.1049/iet-cta.2017.0664
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000415220200017
PublisherINST ENGINEERING TECHNOLOGY-IET
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/26800
Collection系统科学研究所
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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