This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional -integral -derivative (PID) controller.
System identification and robust stabilization using structured controller for a novel ducted fan flying robot
2019-01-01
18 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Design theory for ducted-fan flying platforms
Engineering Index Backfile | 1959
|Control of Ducted Fan Flying Object Using Thrust Vectoring
Springer Verlag | 2013
|Control of Ducted Fan Flying Object Using Thrust Vectoring
British Library Conference Proceedings | 2013
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