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CLC number: V249

On-line Access: 2008-01-30

Received: 2007-08-11

Revision Accepted: 2007-11-26

Crosschecked: 0000-00-00

Cited: 11

Clicked: 3747

Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.4 P.539~545

10.1631/jzus.A071434


Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft


Author(s):  Ashfaq Ahmad MIAN, Dao-bo WANG

Affiliation(s):  College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Corresponding email(s):   mian1000@yahoo.com, dbwangpe@nuaa.edu.cn

Key Words:  Quad rotor rotorcraft, MIMO model, Underactuated systems


Ashfaq Ahmad MIAN, Dao-bo WANG. Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft[J]. Journal of Zhejiang University Science A, 2008, 9(4): 539~545.

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author="Ashfaq Ahmad MIAN, Dao-bo WANG",
journal="Journal of Zhejiang University Science A",
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pages="539~545",
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%J Journal of Zhejiang University SCIENCE A
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A071434

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T1 - Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft
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J0 - Journal of Zhejiang University Science A
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A071434


Abstract: 
In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[3] Koo, T.J., Ma, Y., Sastry, S., 1998. Nonlinear Control of a Helicopter Based Unmanned Aerial Vehicle Model. Proc. 37th IEEE Conf. on Decision and Control, p.1-25.

[4] Lu, Q., Sun, Y.Z., Mei, S.W., 2001. Nonlinear Control Systems and Power System Dynamics. Kluwer Academic Publishers, p.25-53.

[5] McKerrow, P., 2004. Modelling the Draganflyer Four-Rotor Helicopter. Proc. IEEE Int. Conf. on Robotics and Automation, 4:3596-3601.

[6] Pounds, P., Mahony, R., Hynes, P., Roberts, J., 2002. Design of a Four-Rotor Aerial Robot. Proc. Australian Conf. on Robotics and Automation, p.145-150.

[7] Prouty, R.W., 1995. Helicopter Performance, Stability and Control. Krieger Publishing Company, Florida, p.443-639.

[8] Tayebi, A., McGilvray, S., 2004. Attitude Stabilization of a Four-Rotor Aerial Robot. Proc. 43rd IEEE Conf. on Decision and Control, 2:1216-1221.

[9] Wu, X.F., Ignatov, R., Muenset, G., Imaev, A., Zhu, J.J., 2002. A Nonlinear Flight Controller Design of a UFO by Trajectory Linearization Method. Part I—Modeling. Proc. IEEE 34th Southeastern Symp. on System Theory, p.97-102.

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