Nonlinear robust control of a quadrotor helicopter with finite time convergence
Guozhou ZHENG
Bin XIAN
摘要：In this paper,the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated.A new nonlinear robust control strategy is proposed.First,a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor's attitude angles and the altitude position.Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor's roll angle,pitch angle,row angle and the altitude position.Real-time flight experimental results,which are performed on a quadrotor flight testbed,are included to demonstrate the good control performance of the proposed control methodology.
机标关键词：
资助基金：the Key Project of Tianjin Science and Technology Support Program(15ZCZDGX00810)the Natural Science Foundation of Tianjin(14JCZDJC31900)the National Natural Science Foundation of China()the National Natural Science Foundation of China(91748121)the National Natural Science Foundation of China(90916004)the National Natural Science Foundation of China(60804004)
论文发表日期：2018-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：12( 133-144 )
英文信息