摘要
根据微型四旋翼直升机模型和其欠驱动特性,提出了一种欠驱动控制策略,并在此基础上设计了微型四旋翼飞行控制系统基于反步法的控制器。该控制器能够使位置变量和偏航角跟踪稳定,并使俯仰角和偏航角稳定。最后通过仿真对算法有效性进行了检验。
A control scheme is proposed with the under-actuated character of the micro-quadrotor and a flight controller based on the Backstepping is designed, which can set the micro-quadrotor track their desired trajectories and stabilize the pitch and roll angles. Simulations show that the Dronosed controllers are valid.
出处
《洛阳理工学院学报（自然科学版）》
2013年第2期56-61,共6页
Journal of Luoyang Institute of Science and Technology：Natural Science Edition
关键词
反步法
欠驱动
微型四悬翼
backstepping
under-actuated
micro-quadrotor
