Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method

• 作者: Congkui He Lifeng Wang Yichong He Zhixiang Zhang
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: AERIAL ROBOT QUADROTOR Nonlinear Model DYNAMIC INVERSION Robust Control
• 年，卷（期）: 2013,（4）
• 页码范围: 343-348
• 页数: 6页
• 分类号: TP2

摘要

This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rotate. A nonlinear dynamic model of the quadrotor is provided, and a controller based on the improved dynamic inverse is synthesized for the purpose of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation that can balance the deviation of model inaccuracy well.