TY - GEN
T1 - System Identification and State-Feedback Attitude Controller Design of Quadrotor
AU - Liu, Hao
AU - Lin, Defu
AU - Ye, Jianchuan
AU - Song, Tao
AU - Wu, Zeliang
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2024.
PY - 2024
Y1 - 2024
N2 - As the tasks of quadrotor unmanned aerial vehicles (UAVs) become increasingly complex, the performance of their controllers needs to be improved, and the dynamical models must be obtained with higher accuracy. In this paper, an accurate state-space dynamical model of the quadrotor is obtained with system identification method and model based effective attitude controller is designed. Firstly, the detailed procedures of identification are demonstrated. Subsequently, an identification flight test is conducted to acquire the accurate quadrotor model. Secondly, the model based proportional-integral-state feedback (PI-SF) control law is designed, where the state feedback is utilized to stabilize the system and improve response speed, while the PI controller is applied to enhance robustness. Finally, a simulation is performed to compare the performance of PI-SF and traditional series PID controller. The results indicate that PI-SF significantly improves rapidity and tracking performance.
AB - As the tasks of quadrotor unmanned aerial vehicles (UAVs) become increasingly complex, the performance of their controllers needs to be improved, and the dynamical models must be obtained with higher accuracy. In this paper, an accurate state-space dynamical model of the quadrotor is obtained with system identification method and model based effective attitude controller is designed. Firstly, the detailed procedures of identification are demonstrated. Subsequently, an identification flight test is conducted to acquire the accurate quadrotor model. Secondly, the model based proportional-integral-state feedback (PI-SF) control law is designed, where the state feedback is utilized to stabilize the system and improve response speed, while the PI controller is applied to enhance robustness. Finally, a simulation is performed to compare the performance of PI-SF and traditional series PID controller. The results indicate that PI-SF significantly improves rapidity and tracking performance.
KW - controller
KW - quadrotor
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=85192508382&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-1107-9_52
DO - 10.1007/978-981-97-1107-9_52
M3 - Conference contribution
AN - SCOPUS:85192508382
SN - 9789819711062
T3 - Lecture Notes in Electrical Engineering
SP - 559
EP - 572
BT - Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) - Volume I
A2 - Qu, Yi
A2 - Gu, Mancang
A2 - Niu, Yifeng
A2 - Fu, Wenxing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Y2 - 9 September 2023 through 11 September 2023
ER -