Modeling and Control Approach to a Distinctive Quadrotor Helicopter

This post is an excerpt from the journal ISA Transactions.  All ISA Transactions articles are free to ISA members, or can be purchased from Elsevier Press.

Abstract: The referenced quadrotor helicopter in this paper has a unique configuration. It is more complex than commonly used quadrotors because of its inaccurate parameters, unideal symmetrical structure and unknown nonlinear dynamics. A novel method was presented to handle its modeling and control problems in this paper, which adopts a MIMO RBF neural nets-based White quadrocopter carrying carton boxstate-dependent ARX (RBF-ARX) model to represent its nonlinear dynamics, and then a MIMO RBF-ARX model-based global LQR controller is proposed to stabilize the quadrotor’s attitude. By comparing with a physical model-based LQR controller and an ARX model-set-based gain scheduling LQR controller, superiority of the MIMO RBF-ARX model-based control approach was confirmed. This successful application verified the validity of the MIMO RBF-ARX modeling method to the quadrotor helicopter with complex nonlinearity.

Free Bonus! To read the full article on a modeling and control approach to a quadrotor helicopter, click here.

ISA membership entitles you to free access to all ISA Transactions articles plus a wealth of technical content, industry information, free webinars, training opportunities, program discounts, certification and licensure and professional networking.

Click here to join ISA … learn, advance, succeed!


2006 Elsevier Science Ltd. All rights reserved.

Print Friendly, PDF & Email

, , , , , , ,