Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design
Joint Authors
Tran, Huu-Khoa
Peng, Shou-Tao
Chiou, Juing-Shian
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-02
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
This paper has implemented nonlinear control strategy for the single tilt tri-rotor aerial robot.
Based on Newton-Euler’s laws, the linear and nonlinear mathematical models of tri-rotor UAVs are obtained.
A numerical analysis using Newton-Raphson method is chosen for finding hovering equilibrium point.
Back-stepping nonlinear controller design is based on constructing Lyapunov candidate function for closed-loop system.
By imitating the linguistic logic of human thought, fuzzy logic controllers (FLCs) are designed based on control rules and membership functions, which are much less rigid than the calculations computers generally perform.
Effectiveness of the controllers design scheme is shown through nonlinear simulation model on each channel.
American Psychological Association (APA)
Chiou, Juing-Shian& Tran, Huu-Khoa& Peng, Shou-Tao. 2013. Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-1031775
Modern Language Association (MLA)
Chiou, Juing-Shian…[et al.]. Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design. Mathematical Problems in Engineering No. 2013 (2013), pp.1-6.
https://search.emarefa.net/detail/BIM-1031775
American Medical Association (AMA)
Chiou, Juing-Shian& Tran, Huu-Khoa& Peng, Shou-Tao. Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-1031775
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1031775