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초록
영어
According to the uncertainty problem in the process of quad-rotor aircraft flight, As close to the actual flight environment, The nonlinear dynamic model of quad-rotor aircraft is established,On the basis of the backstepping, Analyzed the presence of interference control quantity expression and adaptive law.This paper puts forward a technique of backstepping and adaptive control technology,Through Matlab simulation and flight test of the designed adaptive inverse footwork the effectiveness of the proposed controller is verified, The simulation results show that the system has good robustness.
목차
Abstract
1. Introduction
2. Nonlinear Mathematical Model of Quad-Rotor
3. Quad-Rotor Adaptive Inverse and Backstepping Controller
3.1 Adaptive Inverse and Backstepping Design Train of Thought
3.2 The Implementation of the Adaptive Inverse Controller and Backstepping
4. The Simulation Experiment and Result Analysis
4.1 Fixed Point of the Flight
4.2 Anti-Interference Analysis
5. Flight Test
6. Conclusion
References
1. Introduction
2. Nonlinear Mathematical Model of Quad-Rotor
3. Quad-Rotor Adaptive Inverse and Backstepping Controller
3.1 Adaptive Inverse and Backstepping Design Train of Thought
3.2 The Implementation of the Adaptive Inverse Controller and Backstepping
4. The Simulation Experiment and Result Analysis
4.1 Fixed Point of the Flight
4.2 Anti-Interference Analysis
5. Flight Test
6. Conclusion
References
저자정보
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자료제공 : 네이버학술정보