ICA  Vol.4 No.4 , November 2013
Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method
ABSTRACT

This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rotate. A nonlinear dynamic model of the quadrotor is provided, and a controller based on the improved dynamic inverse is synthesized for the purpose of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation that can balance the deviation of model inaccuracy well.


Cite this paper
L. Wang, Y. He, Z. Zhang and C. He, "Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method," Intelligent Control and Automation, Vol. 4 No. 4, 2013, pp. 343-348. doi: 10.4236/ica.2013.44040.
References
[1]   T. Tomic, K. Schmid, P. Lutz, et al., “Towards a Fully Autonomous UAV,” IEEE Robotics & Automation Magazine, Vol. 19, No. 3, 2012, pp. 46-56.

[2]   H. Lim, J. Park, D. Lee and H. J. Kim, “Build Your Own Quadrotor: Open-Source Projects on Unmanned Aerial Vehicles,” IEEE Robotics & Automation Magazine, Vol. 19, No. 3, 2012, pp. 33-45.

[3]   A. Drouin, S. Simoes-Cunha, and A. C. Brandao-Ramos, “Differential Flatness and Control of Nonlinear Systems,” Proceedings of the 30th Chinese Control Conference, 22-24 July 2011, Yantai, pp. 643-648.

[4]   M. Xin, Y. J. Xu and R. Hopkins, “Trajectory Control of Miniature Helicopters Using a Unified Nonlinear Optimal Control Technique,” Journal of Dynamic Systems, Measurement and Control, Vol. 133, No. 6, 2011, 14 p.

[5]   K. T. Oner, E. Cetinsoy, M. Unel, et al., “Dynamic Model and Control of a New Quadrotor Unmanned Aerial vehicle with Tilt-Wing Mechanism,” World Academy of Science, Engineering and Technology, 2008.

[6]   Z. Fang and W. N. Gao, “Adaptive Integral Backstepping Control of a Micro-Quadrotor,” The 2nd International Conference on Intelligent Control and Information Processing, Harbin, 25-28 July 2011, pp. 910-915.

[7]   I. F. Kendoul and R. Lozano, “Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors,” IEEE Transactions on Robotics, Vol. 22, No. 6, 2006, pp. 1297-1302.

[8]   K. T. Oner, E. Cetinsoy, E. Sirimoglu, et al., “Mathematical Modeling and Vertical Flight Control of a Tilt-Wing UAV,” Turkish Journal of Electrical Engineering & Computer Sciences, Vol. 20, No. 1, 2012, p. 149.

[9]   A. Das, K. Subbarao and F. Lewis, “Dynamic Inversion with Zero-Dynamics Stabilisation for Quadrotor Control,” IET Control Theory Applications, Vol. 3, No. 3, 2009, pp. 303-314.
http://dx.doi.org/10.1049/iet-cta:20080002

[10]   H. Shim, “Hierarchical Flight Control System Synthesis for Rotorcraft-Based Unmanned Aerial Vehicles,” Doctor of Philosophy Dissertation, University Of California, Berkeley, 2000.

 
 
Top