文章基本信息

标题：Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction
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作者：Giulia Michieletto ; Angelo Cenedese ; Luca Zaccarian 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：13144-13149
DOI：10.1016/j.ifacol.2017.08.2168
语种：English
出版社：Elsevier
摘要：AbstractA quaternion-based nonlinear control strategy is here presented to steer and keep a generic multi-rotor platform in a given reference position. Exploiting a state feedback structure, the proposed solution ensures the stabilization of the aerial vehicle so that its linear and angular velocity are zero and its attitude is constant. The main feature of the designed controller is the identification of azero-moment directionin the feasible force space, i.e., a direction along which the control force intensity can be assigned independently of the control moment. The asymptotic convergence of the error dynamics is confirmed by simulation results on a hexarotor with tilted propellers.
关键词：KeywordsUAVsnonlinear feedback controlhovering