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Real-Time Implementation of Decoupled Controllers for Multirotor Aircrafts

Liu, Hao; Li, Danjun; Kim, Jonghyuk; Zhong, Yisheng

Description

In this paper, a practical controller design method is presented to control six degrees of freedom multirotor aircrafts-quadrotors. The quadrotor system is divided into four subsystems; that is, the longitudinal, lateral, yaw, and height subsystems. Then, a linear and decoupled nominal model is obtained for each subsystem, whereas coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust...[Show more]

dc.contributor.authorLiu, Hao
dc.contributor.authorLi, Danjun
dc.contributor.authorKim, Jonghyuk
dc.contributor.authorZhong, Yisheng
dc.date.accessioned2015-12-08T22:25:15Z
dc.identifier.issn0921-0296
dc.identifier.urihttp://hdl.handle.net/1885/33370
dc.description.abstractIn this paper, a practical controller design method is presented to control six degrees of freedom multirotor aircrafts-quadrotors. The quadrotor system is divided into four subsystems; that is, the longitudinal, lateral, yaw, and height subsystems. Then, a linear and decoupled nominal model is obtained for each subsystem, whereas coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust controller is then proposed. Although there exist coupling between each channel, the output tracking errors of the four subsystems are proven to ultimately converge into a-priori set neighborhood of the origin. Finally, real-time implementation results of the decoupled controller are given to demonstrate its viability and applicability.
dc.publisherKluwer Academic Publishers
dc.sourceJournal of Intelligent and Robotic Systems
dc.titleReal-Time Implementation of Decoupled Controllers for Multirotor Aircrafts
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume73
dc.date.issued2014
local.identifier.absfor090600 - ELECTRICAL AND ELECTRONIC ENGINEERING
local.identifier.ariespublicationu5114172xPUB101
local.type.statusPublished Version
local.contributor.affiliationLiu, Hao, Beihang University
local.contributor.affiliationLi, Danjun, Tsinghua University
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationZhong, Yisheng, Tsinghua University
local.description.embargo2037-12-31
local.bibliographicCitation.issue1-4
local.bibliographicCitation.startpage197
local.bibliographicCitation.lastpage207
local.identifier.doi10.1007/s10846-013-9916-5
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2015-12-08T09:04:32Z
local.identifier.scopusID2-s2.0-84899429302
local.identifier.thomsonID000329629400014
CollectionsANU Research Publications

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