TY - GEN
T1 - Modeling and maneuvering control for tricopter based on the back-stepping method
AU - Song, Ziwei
AU - Li, Kunpeng
AU - Cai, Zhihao
AU - Wang, Yingxun
AU - Liu, Ningjun
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - In this paper, we focus on the tricopter (Tri-Rotor UAV), which is a newer type UAV rather than Quad-rotor. Firstly, analyzing of the mechanical structure and three possible rotor configurations of the Tri-rotor are made. Then we choose a type of the three possible rotor configurations which the control performance is the best. Secondly, numerical simulations for nonlinear system of the Tri-rotor UAV should be conducted through the force and kinematic analysis. In order to follow the trend of high-precision and maneuvering flight of the multi-rotor, It used back-stepping control strategy to design the UAV flight attitude controller and got a good effect of realizing maneuvering flight of the tri-rotor.
AB - In this paper, we focus on the tricopter (Tri-Rotor UAV), which is a newer type UAV rather than Quad-rotor. Firstly, analyzing of the mechanical structure and three possible rotor configurations of the Tri-rotor are made. Then we choose a type of the three possible rotor configurations which the control performance is the best. Secondly, numerical simulations for nonlinear system of the Tri-rotor UAV should be conducted through the force and kinematic analysis. In order to follow the trend of high-precision and maneuvering flight of the multi-rotor, It used back-stepping control strategy to design the UAV flight attitude controller and got a good effect of realizing maneuvering flight of the tri-rotor.
UR - https://www.scopus.com/pages/publications/85015172366
U2 - 10.1109/CGNCC.2016.7828903
DO - 10.1109/CGNCC.2016.7828903
M3 - 会议稿件
AN - SCOPUS:85015172366
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 889
EP - 894
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -