ATTITUDE CONTROL OF SMALL UNMANNED FOUR-ROTOR HELICOPTER BASED ON ADAPTIVE INVERSE CONTROL THEORY

Authors

  • Li Jin-song Shanghai Jiao Tong University
  • Cao Xi Shanghai Jiao Tong University

DOI:

https://doi.org/10.5755/j01.mech.18.1.1288

Keywords:

attitude control, small unmanned four-rotor helicopter, adaptive inverse control theory

Abstract

A dynamic model of small unmanned four-rotor built according to Newton-Euler formalism was proposed in this paper. Base on this model, Adaptive Inverse Control (AIC) Theory was used in the control of the small unmanned four-rotor for the first time and the attitude stabilization control was also realized on the experimental platform. The attitude control experiment indicates that AIC is robust in the attitude control of the small unmanned four-rotor.

DOI: http://dx.doi.org/10.5755/j01.mech.18.1.1288

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Published

2012-03-01

Issue

Section

DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS