） 摘要： 本文采用在线参数辨识与反馈控制相结合的方法,针对具有欠驱动特性的四旋翼无人飞行器,设计了一种非线性自适应镇定控制器
刁琛等
四旋翼无人飞行器的非线性自适应镇定控制器设计[EB/OL]
北京：中国科技论文在线
关键词： 四旋翼无人飞行器
利用Lyapunov稳定性分析方法理论证明了四旋翼无人飞行器的镇定误差最终趋于零
并且在进行控制器设计时,考虑到了飞行器转动惯量
鲜斌 *
鲜斌
） Abstract： In this paper, a nonlinear adaptive regulation controller is presented for aclass of underactuated quadrotor unmanned aerial vehicle (UAV)
The vehicle'sdynamics is subject to modeling impression associated with the inertia matrix,aerodynamic damping coefficients, and some other system parameters
Theon-line parameter estimation scheme is combined with feedback control todevelop the adaptive control laws
Lyapunov based approaches are utilized toprove that the quadrotor UAV's position and yaw angle regulation errors areultimately driven to zero under parametric uncertainties
Simulation resultsare included to demonstrate the performance of the control strategy
Keywords： Quadrotor; Adaptive; Parameter Uncertain; Feedback 下载PDF阅读器 PDF全文下载： 初稿 （ 376 ） 原始数据 作者简介： 通信联系人： Xian Bin, (1975-),male,professor,main research direction: Nonlinear Control,Unmanned Aerical Vehicles, Robotics
【收录情况】 中国科技论文在线： 曾伟
