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Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method
Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
- 1 Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
- 2 Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
- 3 Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
- 4 Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China
Intelligent Control and Automation·Volume 04 (2013)·Pages 343–348·Published 13 November 2013·DOI10.4236/ica.2013.44040
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Abstract
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.
KeywordsAerial RobotQuadrotorNonlinear ModelDynamic InversionRobust Control
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