It is an important practical design problem for control system design of quadrotor helicopters with accurately actuator modeling, which is not mentioned in many previous works. In order to improve the performance of attitude stabilization control system, a new strategy is proposed in this paper. This control strategy is based on the accurately nonlinear modeling of the brushless motors using the Hammerstein series models. Furthermore the identification method to obtain such models from observed input-output data is presented. After models of four brushless motor are obtained, a backstepping attitude controller is designed to stabilize the quadrotor helicopter. Flight experiments show that the proposed control strategy can achieve higher performance than past ones.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Attitude Stabilization Method for Quadrotor Helicopter Using Brushless Motors



    Erschienen in:

    Erscheinungsdatum :

    2013-09-27


    Format / Umfang :

    5 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    QUADROTOR ATTITUDE STABILIZATION USING TAKAGI-SUGENOMODEL

    Fouad Yacef , Hana Boudjedi , Omar Bouhali / Hicham Khebbache | BASE | 2020

    Freier Zugriff


    Attitude Stabilization for a Quadrotor Using Adaptive Control Algorithm

    Huang, Tianpeng / Li, Tieshan / Chen, C. L. Philip et al. | IEEE | 2024


    EKF based sliding mode control for a quadrotor attitude stabilization

    Kwon, Hyungkwan / Lee, Kyunghyun / You, Kwanho | IEEE | 2017


    Event-triggered nonlinear control for attitude stabilization of a quadrotor

    Guerrero-Castellanos, J. F. / Tellez-Guzman, J. J. / Durand, S. et al. | IEEE | 2013