会议论文详细信息
13th European Workshop on Advanced Control and Diagnosis
Comparative Results on 3D Navigation of Quadrotor using two Nonlinear Model based Controllers
Bouzid, Y.^1 ; Siguerdidjane, H.^2 ; Bestaoui, Y.^1
IBISC Laboratory, Universitéd'Evry Val d'Essonne, UniversitéParis-Saclay, Evry, France^1
L2S, CentraleSupélec, UniversitéParis-Saclay, Gif sur Yvette, France^2
关键词: 3-D trajectory;    3D navigation;    Flight controllers;    Nominal system;    Non-linear model;    Nonlinear flight controls;    Nonlinear internal model control;    Nonlinear PID;   
Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012046/pdf
DOI  :  10.1088/1742-6596/783/1/012046
来源: IOP
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【 摘 要 】

Recently the quadrotors are being increasingly employed in both military and civilian areas where a broad range of nonlinear flight control techniques are successfully implemented. With this advancement, it has become necessary to investigate the efficiency of these flight controllers by studying theirs features and compare their performance. In this paper, the control of Unmanned Aerial Vehicle (UAV) quadrotor, using two different approaches, is presented. The first controller is Nonlinear PID (NLPID) whilst the second one is Nonlinear Internal Model Control (NLIMC) that are used for the stabilization as well as for the 3D trajectory tracking. The numerical simulations have shown satisfactory results using nominal system model or disturbed model for both of them. The obtained results are analyzed with respect to several criteria for the sake of comparison.

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