کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5004606 | 1368987 | 2014 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Modeling and control approach to a distinctive quadrotor helicopter
ترجمه فارسی عنوان
رویکرد مدل سازی و کنترل به هلیکوپتر چهارگانه متمایز
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 53, Issue 1, January 2014, Pages 173-185
Journal: ISA Transactions - Volume 53, Issue 1, January 2014, Pages 173-185
نویسندگان
Jun Wu, Hui Peng, Qing Chen, Xiaoyan Peng,