In order to assist urban search and rescue or environment monitoring, unmanned vehicles have been developed for some decades. Among them, unmanned aerial vehicles such as a helicopter which can achieve a vertical takeoff and landing have been strongly concerned more recently. Although there are some kinds of helicopters, significant research interest has been directed towards a four-rotor mini helicopter referred to as X4 flyer, which has fixed-pitch rotors mounted at the four ends of a simple cross frame. This paper presents an autonomous control strategy for a four-rotor mini helicopter referred to as X4 flyer. Based on the so called backstepping method together with sliding mode control theories, a robust velocity tracking controller is designed, in which both Euler angles and quaternion parameters are appropriately employed. As a special case of velocity tracking control, when the demanded velocity is zero, the proposed controller achieves stable hovering. Numerical simulation illustrates the robustness of the proposed controller against torque disturbances such as a gust of wind.
Velocity tracking control of a four-rotor mini helicopter
Geschwindigkeitsverfolgungsregelung für einen Mini-Hubschrauber mit vier Rotoren
2008
10 Seiten, 4 Bilder, 4 Quellen
Aufsatz (Konferenz)
Englisch
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