控制理论(社会学)
弹道
欠驱动
反推
稳健性(进化)
控制器(灌溉)
控制工程
反馈线性化
工程类
姿态控制
模型预测控制
计算机科学
控制(管理)
人工智能
自适应控制
化学
基因
物理
天文
生物
生物化学
农学
作者
Brajesh Kumar Singh,Awadhesh Kumar
出处
期刊:Aircraft Engineering and Aerospace Technology
[Emerald (MCB UP)]
日期:2022-10-05
卷期号:95 (4): 607-618
被引量:7
标识
DOI:10.1108/aeat-12-2021-0368
摘要
Purpose The rotorcraft technology is very interesting area since last few decades due to variety of applications. One of the rotorcrafts is the quadrotor unmanned aerial vehicle (QUAV), which contains four rotors mounted on an airframe with an onboard controller. The QUAV is a highly nonlinear system and underactuated. Its controller design is very challenging task, and the need of controller is to make it autonomous based on mission planning. The purpose of this study is to design a controller for quadrotor UAV for attitude stabilization and trajectory tracking problem in presence of external environmental disturbances such as wind gust. Design/methodology/approach To address this problem, the model predictive control has been designed for attitude control and feedback linearization control for the position control using the linear parameter varying (LPV) approach. The trajectory tracking problem has been addressed using the circular trajectory and helical trajectory. Findings The simulation results show the efficient performance with good trajectory tracking even in presence of external disturbances in both the scenarios considered, one for circular trajectory tracking and other for helical trajectory tracking. Originality/value The novelty of the work came from using the LPV approach in controller design, which increases the robustness of the controller in presence of external disturbances.
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