抄録
This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipment. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.
| 言語 | English |
|---|---|
| ページ | 34-44 |
| Number of pages | 11 |
| ジャーナル | Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) |
| Volume | 198 |
| 号 | 1 |
| DOIs | |
| State | Published - 2017 1 1 |
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Keywords
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering
これを引用
Attitude Control of Quadrotor in Consideration of the Effects of a Pole Based on Limited Pole Placement. / Sugawara, Yasunori; Shimada, Akira.
：: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), 巻 198, 番号 1, 01.01.2017, p. 34-44.研究成果: Article
}
TY - JOUR
T1 - Attitude Control of Quadrotor in Consideration of the Effects of a Pole Based on Limited Pole Placement
AU - Sugawara,Yasunori
AU - Shimada,Akira
PY - 2017/1/1
Y1 - 2017/1/1
N2 - This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipment. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.
AB - This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the nonlinear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipment. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.
KW - actuator
KW - attitude control
KW - Helicopter
KW - LPP (limited pole placement)
KW - nonlinear control
UR - http://www.scopus.com/inward/record.url?scp=84986891121&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84986891121&partnerID=8YFLogxK
U2 - 10.1002/eej.22882
DO - 10.1002/eej.22882
M3 - Article
VL - 198
SP - 34
EP - 44
JO - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
T2 - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
JF - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
SN - 0424-7760
IS - 1
ER -