TY - GEN
T1 - Modelling and control of a quadrotor equipped with an unbalanced load
AU - Xu, Zhongyan
AU - He, Fenghua
AU - Xing, Xiaowei
AU - Qi, Hongsheng
AU - Huo, Xin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/7
Y1 - 2018/2/7
N2 - In this paper, a modeling and control problem is investigated for a quadrotor equipped with an unbalanced load. First, a dynamic model is established by analyzing the effect of an unbalanced load. We then propose an identification algorithm to obtain the offset of the center-of-gravity (CoG) caused by the unbalanced load. An adaptive compensation control is given to guarantee that the attitude of the quadrotor can be stabilized. The experimental results show the effectiveness of the proposed identification and control algorithm.
AB - In this paper, a modeling and control problem is investigated for a quadrotor equipped with an unbalanced load. First, a dynamic model is established by analyzing the effect of an unbalanced load. We then propose an identification algorithm to obtain the offset of the center-of-gravity (CoG) caused by the unbalanced load. An adaptive compensation control is given to guarantee that the attitude of the quadrotor can be stabilized. The experimental results show the effectiveness of the proposed identification and control algorithm.
UR - https://www.scopus.com/pages/publications/85047458187
U2 - 10.1109/ASCC.2017.8287270
DO - 10.1109/ASCC.2017.8287270
M3 - 会议稿件
AN - SCOPUS:85047458187
T3 - 2017 Asian Control Conference, ASCC 2017
SP - 784
EP - 789
BT - 2017 Asian Control Conference, ASCC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 11th Asian Control Conference, ASCC 2017
Y2 - 17 December 2017 through 20 December 2017
ER -