To improve the flight stability of quadrotor unmanned air vehicles (UAVs) flight control problem, a stability augmentation controller design approach is presented under parameter variations and external disturbances. The controller is made of two parts: an inner-loop attitude controller and an outer-loop position controller. The inner-loop attitude controller is designed with backstepping algorithm. The outer-loop position controller is realized with fuzzy adaptive PID algorithm. The stability augmentation controller and its performance are evaluated using a non-linear, six degree of freedom (DOF) dynamic model of a quadrotor UAV in simulate and practical experiments. The results illustrate that the proposed controller can effectively realize the stability.


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    Titel :

    Research of stability augmentation flight control algorithm for quadrotor unmanned air vehicles


    Beteiligte:
    Qingji Gao, (Autor:in) / Fengfa Yue, (Autor:in)


    Erscheinungsdatum :

    2014-06-01


    Format / Umfang :

    840943 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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