Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method - Intelligent Control and Automation

ICA > Vol.4 No.4, November 2013

Intelligent Control and Automation

Volume 4, Issue 4 (November 2013)

ISSN Print: 2153-0653 ISSN Online: 2153-0661

Google-based Impact Factor: 0.70 Citations

Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method ()

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Download as PDF (Size: 5841KB) PP. 343-348

DOI: 10.4236/ica.2013.44040 151,162 Downloads 376,209 Views Citations

Author(s)

Lifeng Wang, Yichong He, Zhixiang Zhang, Congkui He

Affiliation(s)

Field Bus Technology & Automation Lab, North China University of Technology, Beijing, China.

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.

KEYWORDS

Aerial Robot; Quadrotor; Nonlinear Model; Dynamic Inversion; Robust Control

Share and Cite:

L. Wang, Y. He, Z. Zhang and C. He, "Trajectory Tracking of Quadrotor Aerial Robot Using Improved Dynamic Inversion Method," Intelligent Control and Automation, Vol. 4 No. 4, 2013, pp. 343-348. doi: 10.4236/ica.2013.44040.

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