U-model-based dynamic inversion control for quadrotor UAV systems

Publikation: Beiträge in SammelwerkenKapitelbegutachtet

Authors

A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a controller, which is made of two parts. The first part consists of a general controller designed independently to guarantee the performance requirements defined in advance. Secondly, this independent controller is then integrated with the inverse of the model. In this chapter, we consider a Parrot Mambo Minidrone as a research subject to simulate and validate the controller performance. The simulations results are presented at the end with graphical illustrations demonstrating the effectiveness of the proposed controller.

OriginalspracheEnglisch
TitelModeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
HerausgeberPaolo Mercorelli, Weicun Zhang, Hamidreza Nemati, Yuming Zhang
Anzahl der Seiten17
ErscheinungsortSan Diego
VerlagElsevier
Erscheinungsdatum01.01.2024
Seiten293-309
ISBN (Print)978-0-323-95207-1
ISBN (elektronisch)978-0-323-95208-8
DOIs
PublikationsstatusErschienen - 01.01.2024

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