Control algorithm research of quadrotor system based on 3-DOF simulation platform

Tian Lan; Qing Fei; Qingbo Geng; Qiong Hu

doi:10.1049/cp.2012.1073

Control algorithm research of quadrotor system based on 3-DOF simulation platform

Tian Lan, Qing Fei, Qingbo Geng, Qiong Hu

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

Quadrotor is a classical multi-input and multi-output system, which is non-linear, complicated and dynamically unstable. In this paper, 3-DOF mathematical model of quadrotor is described at the begining, and then attitude controllers making use of PD, LQR and backstepping are put forward for quadrotor. Finally, the comparison of results between simulations with and without pulse interference is carried out. The results show that both LQR and backstepping perform adequently as attitude controllers with respect to PD algorithm. Furthermore controller based on Backstepping method obtains satisfactory response, which is of no overshoot and quick regulation.

Original language	English
Title of host publication	International Conference on Automatic Control and Artificial Intelligence, ACAI 2012
Pages	697-700
Number of pages	4
Edition	598 CP
DOIs	https://doi.org/10.1049/cp.2012.1073
Publication status	Published - 2012
Event	International Conference on Automatic Control and Artificial Intelligence, ACAI 2012 - Xiamen, China Duration: 3 Mar 2012 → 5 Mar 2012

Publication series

Name	IET Conference Publications
Number	598 CP
Volume	2012

Conference

Conference	International Conference on Automatic Control and Artificial Intelligence, ACAI 2012
Country/Territory	China
City	Xiamen
Period	3/03/12 → 5/03/12

Keywords

3-DOF Quadrotor dynamics
Attitude control
Backstepping
LQR
PD

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10.1049/cp.2012.1073

Cite this

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title = "Control algorithm research of quadrotor system based on 3-DOF simulation platform",

abstract = "Quadrotor is a classical multi-input and multi-output system, which is non-linear, complicated and dynamically unstable. In this paper, 3-DOF mathematical model of quadrotor is described at the begining, and then attitude controllers making use of PD, LQR and backstepping are put forward for quadrotor. Finally, the comparison of results between simulations with and without pulse interference is carried out. The results show that both LQR and backstepping perform adequently as attitude controllers with respect to PD algorithm. Furthermore controller based on Backstepping method obtains satisfactory response, which is of no overshoot and quick regulation.",

keywords = "3-DOF Quadrotor dynamics, Attitude control, Backstepping, LQR, PD",

author = "Tian Lan and Qing Fei and Qingbo Geng and Qiong Hu",

year = "2012",

doi = "10.1049/cp.2012.1073",

language = "English",

isbn = "9781849195379",

series = "IET Conference Publications",

number = "598 CP",

pages = "697--700",

booktitle = "International Conference on Automatic Control and Artificial Intelligence, ACAI 2012",

edition = "598 CP",

note = "International Conference on Automatic Control and Artificial Intelligence, ACAI 2012 ; Conference date: 03-03-2012 Through 05-03-2012",

}

Lan, T, Fei, Q, Geng, Q & Hu, Q 2012, Control algorithm research of quadrotor system based on 3-DOF simulation platform. in International Conference on Automatic Control and Artificial Intelligence, ACAI 2012. 598 CP edn, IET Conference Publications, no. 598 CP, vol. 2012, pp. 697-700, International Conference on Automatic Control and Artificial Intelligence, ACAI 2012, Xiamen, China, 3/03/12. https://doi.org/10.1049/cp.2012.1073

Control algorithm research of quadrotor system based on 3-DOF simulation platform. / Lan, Tian; Fei, Qing; Geng, Qingbo et al.
International Conference on Automatic Control and Artificial Intelligence, ACAI 2012. 598 CP. ed. 2012. p. 697-700 (IET Conference Publications; Vol. 2012, No. 598 CP).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Control algorithm research of quadrotor system based on 3-DOF simulation platform

AU - Lan, Tian

AU - Fei, Qing

AU - Geng, Qingbo

AU - Hu, Qiong

PY - 2012

Y1 - 2012

N2 - Quadrotor is a classical multi-input and multi-output system, which is non-linear, complicated and dynamically unstable. In this paper, 3-DOF mathematical model of quadrotor is described at the begining, and then attitude controllers making use of PD, LQR and backstepping are put forward for quadrotor. Finally, the comparison of results between simulations with and without pulse interference is carried out. The results show that both LQR and backstepping perform adequently as attitude controllers with respect to PD algorithm. Furthermore controller based on Backstepping method obtains satisfactory response, which is of no overshoot and quick regulation.

AB - Quadrotor is a classical multi-input and multi-output system, which is non-linear, complicated and dynamically unstable. In this paper, 3-DOF mathematical model of quadrotor is described at the begining, and then attitude controllers making use of PD, LQR and backstepping are put forward for quadrotor. Finally, the comparison of results between simulations with and without pulse interference is carried out. The results show that both LQR and backstepping perform adequently as attitude controllers with respect to PD algorithm. Furthermore controller based on Backstepping method obtains satisfactory response, which is of no overshoot and quick regulation.

KW - 3-DOF Quadrotor dynamics

KW - Attitude control

KW - Backstepping

KW - LQR

KW - PD

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BT - International Conference on Automatic Control and Artificial Intelligence, ACAI 2012

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Y2 - 3 March 2012 through 5 March 2012

ER -

Control algorithm research of quadrotor system based on 3-DOF simulation platform

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Keywords

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