Hovering control of a quadrotor
作者： Yoon Ho Choi , Jin Bae Park , Keun Uk Lee , Han Sol Kim
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摘要: This paper deals with the hovering control of a quadrotor. First, we derive quadrotor model using Euler-Lagrange equation and perform experiment to identify parameter. Second, divide system into two subsystems: attitude altitude system. For control, use PID method, for dynamic surface (DSC) method. From Lyapunov stability theory, prove that all signals are uniformly ultimately bounded(UUB). Finally, present simulation experimental results verify effectiveness proposed
elsevier.com参考文章(5)
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