http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Decentralized Backstepping Control of a Quadrotor with Tilted-rotor under Wind Gusts
Abdul-Wahid A. Saif,Abdulrahman Aliyu,Mujahed Al Dhaifallah,Moustafa Elshafei 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.5
Conventional unmanned aerial vehicles, quadrotor have a plethora of applications for civilian and military purposes. Quadrotors as the name implies usually have four input variables (fixed rotors) which are used to drive six outputs (i.e., 3 translational and 3 rotational motions), and this leads to coupling between motions. Tilt- rotor quadrotors are more versatile because they have more input variables to independently control its orientation and position without coupling. In this paper, a decentralized backstepping control approach is used to generate a new set of inputs capable of independently and simultaneously achieve decoupling of motions while rejecting wind disturbances. The tiltrotor quadrotor dynamic is first decentralized to achieve six subsystems, then controller inputs for each subsystem are generated via Lyapunov based backstepping method whereby the controller parameters are optimized by Differential Evolution (DE) technique. This system exhibits robustness capability because it is able to reject external disturbances.
Modeling and Simulation of Quadrotor UAV with Tilting Rotors
Mahmoud Elfeky,Moustafa Elshafei,Abdul-Wahid A. Saif,Mohamed F. Al-Malki 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.4
Quadrotors have recently been drawing greater research and commercial attention to the point that theyhave become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainmentto transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flightscenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotordesigns.