Modeling and Control Approach to a Distinctive Quadrotor Helicopter [Technical]

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 state-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 version of this ISA Transactions article, click here .

Enjoy this technical resource article? Join ISA and get free access to all ISA Transactions articles as well as a wealth of other technical content, plus professional networking and discounts on technical training, books, conferences, and professional certification.

Click here to join ... learn, advance, succeed!

2006-2018 Elsevier Science Ltd. All rights reserved.