NONLINEAR CONTROL OF A TRI-ROTOR BASED ON THE DECOMPOSITION THE DYNAMIC MODEL AND FEEDBACK LINEARIZATION
Tóm tắt
This paper presents the tri-rotor UAV dynamic modeling and divides it to the control loops under the condition that the response of the inner loop is faster than the response of the outer loop. From diagram of the control loops, attitude, velocity and position controllers have been synthesized based on feedback linearization and module optimization methods. The stability of the attitude loop is proved by Lyapunov theory. Finally, the simulation results on MATLAB/Simulink confirm that the synthesized controllers are realizable in all flying modes with control parameters such as the settling time is about 5-8s and overshot is approximately equal to zero.
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Phát hành ngày
2021-05-25
In ra
Chuyên mục
BAI BAO KHOA HOC