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Modeling and PID control of tethered unmanned quadrotor helicopter
Li YB(李一波); Xie, Qiling; Han JD(韩建达)
作者部门机器人学研究室
会议名称2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
会议日期December 20-22, 2013
会议地点Shenyang, China
会议录名称Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
出版者IEEE
出版地Piscataway, NJ, USA
2013
收录类别EI ; CPCI(ISTP)
EI收录号20145100346245
WOS记录号WOS:000366663000041
产权排序2
ISBN号978-1-4799-2565-0
关键词Unmanned Quadrotor Helicopter Cable Pid Controller
摘要The paper presents a model of tethered unmanned quadrotor helicopter as traditional unmanned quadrotor helicopter can not continuously work for a long time because powered by batteries. To further study the system, the helicopter is modeled as a single rigid body attached to a cable which plays the role of power supply. Based on the tethered architecture a control system is built by using PID (Propotional-Integrate-Differentia}) controller that including an inner-loop for attitude control and an outer-loop for position control, simulation results demonstrate that the controller is very promising.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15491
专题机器人学研究室
通讯作者Li YB(李一波)
作者单位1.College of Automation, Shenyang Aerospace University, Shenyang, Liaoning Province, China;
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, Liaoning Province, China
推荐引用方式
GB/T 7714
Li YB,Xie, Qiling,Han JD. Modeling and PID control of tethered unmanned quadrotor helicopter[C]. Piscataway, NJ, USA:IEEE,2013.
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