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Fuzzy adaptive PD control for quadrotor helicopter
Gao HW(高宏伟); Liu CY(刘传银); Guo, Dongliang; Liu JG(刘金国)
作者部门空间自动化技术研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码281-286
收录类别EI ; CPCI(ISTP)
EI收录号20161402187786
WOS记录号WOS:000380502300056
产权排序2
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Quadrotor Fuzzy Control Pd Dynamic Model
摘要Quadrotor is a strong coupling, under actuated complex system with multi inputs and multi outputs. In this paper, the quadrotor UAV model was presented at first. In order to control the position and attitude respectively, a nested loops control strategy was employed. The full control was divided into two parts, i.e. position control and attitude control. Both a PD controller and a fuzzy adaptive PD control er were designed. Finally, in order to give the comparison results, a quadrotor simulation system was set up in Matlab Simulink.
语种英语
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被引频次:3[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/173321/17514
专题空间自动化技术研究室
作者单位1.School of Information Science and Engineering, Shenyang Ligong University, SYLU, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation. SIA, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Gao HW,Liu CY,Guo, Dongliang,et al. Fuzzy adaptive PD control for quadrotor helicopter[C]. Piscataway, NJ, USA:IEEE,2015:281-286.
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