TY - GEN
T1 - Controlled Lagrangians control for a quadrotor helicopter
AU - Zheng, Zewei
AU - Zhu, Ming
AU - Zuo, Zongyu
AU - Yan, Keyu
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/17
Y1 - 2015/7/17
N2 - The controller design technique based on Controlled Lagrangians (CL) is presented for a quadrotor helicopter with under-actuation degree 2. Firstly, the dynamic model of the quadrotor used for controller design is introduced, and the model is linearized at its equilibrium. Then, the CL method is used for the linearized system to design its controller and the matching conditions satisfied for the controller are derived. Stability analysis shows that the controlled closed-loop system is asymptotically stable. The proposed method solves the under-actuated problem for quadrotor and avoids the dependence of control law design under the time-scale separation assumption. Finally, simulation results for the quadrotor helicopter to hovering in a certain position are illustrated to verify effectiveness of the proposed method.
AB - The controller design technique based on Controlled Lagrangians (CL) is presented for a quadrotor helicopter with under-actuation degree 2. Firstly, the dynamic model of the quadrotor used for controller design is introduced, and the model is linearized at its equilibrium. Then, the CL method is used for the linearized system to design its controller and the matching conditions satisfied for the controller are derived. Stability analysis shows that the controlled closed-loop system is asymptotically stable. The proposed method solves the under-actuated problem for quadrotor and avoids the dependence of control law design under the time-scale separation assumption. Finally, simulation results for the quadrotor helicopter to hovering in a certain position are illustrated to verify effectiveness of the proposed method.
KW - Controlled Lagrangians
KW - Quadrotor Helicopter
KW - Under-actuated Mechanical Systems
UR - https://www.scopus.com/pages/publications/84945586143
U2 - 10.1109/CCDC.2015.7161905
DO - 10.1109/CCDC.2015.7161905
M3 - 会议稿件
AN - SCOPUS:84945586143
T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
SP - 6097
EP - 6102
BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th Chinese Control and Decision Conference, CCDC 2015
Y2 - 23 May 2015 through 25 May 2015
ER -