摘要
针对四旋翼飞行器高度控制这一重要课题,建立一般的高度耦合的非线性动力学模型。通过近似线性化方法得到解耦后的线性化模型,基于该模型分别采用PID、极点配置和线性二次型最优法三种方法设计飞行器高度控制算法,实现了飞行器快速、稳定达到期望高度。通过仿真和实验进一步验证了各个算法的有效性。
The important issue of modelling and control of the quadrotor altitude is investigated. First, ahighly nonlinear dynamics model is decoupled by using the approximate linearization method. On the basisof this model, a PID controller, pole assignment method and linear quadratic regulator are designed.Simulations and experiment results show the effectiveness of the proposed methods.
出处
《控制工程》
CSCD
北大核心
2017年第1期28-32,共5页
Control Engineering of China
基金
国家自然科学基金资助项目(61304192,61273107,61174060)
