On-line aerodynamic identification of quadrotor and its application to tracking control
文献类型：期刊论文
| 作者 | Lei, Wenchao1,2; Li, Chanying1,2
|
| 刊名 | IET CONTROL THEORY AND APPLICATIONS
 |
| 出版日期 | 2017-11-24 |
| 卷号 | 11期号:17页码:3097-3106 |
| 关键词 | helicopters 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 |
| ISSN号 | 1751-8644 |
| DOI | 10.1049/iet-cta.2017.0664 |
| 英文摘要 | This 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. |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000415220200017 |
| 出版者 | INST ENGINEERING TECHNOLOGY-IET |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/26799]  |
| 专题 | 系统科学研究所 |
| 通讯作者 | Li, Chanying |
| 作者单位 | 1.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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：数学与系统科学研究院
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