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.


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    Titel :

    System identification and robust stabilization using structured controller for a novel ducted fan flying robot


    Beteiligte:
    Wang, Xiaoliang (Autor:in) / Xiang, Changle (Autor:in) / Xu, Bin (Autor:in) / Fan, Wei (Autor:in)


    Erscheinungsdatum :

    2019-01-01


    Format / Umfang :

    18 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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