Description: 直升飞机模型控制器的设计
介绍了直升飞机的工作原理，详细说明了控制器的设计思想和设计步骤-helicopter model controller design of the helicopter principle, a detailed description of the controller design and design steps Platform: |
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Author: |
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Description: 本人写的利用backstepping算法设计的移动机器人轨迹跟踪控制器matlab源代码，包里面有四种轨迹，分别是直线、圆、椭圆和不规则轨迹，希望能够对研究此方向的朋友有所帮助。-I write using backstepping algorithm design of mobile robot trajectory tracking controller matlab source code, there are four types of packet paths are straight, round, oval and irregular track, hope to be able to research in this direction will help a friend. Platform: |
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Author:张默 |
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Description: (UAV) has grown rapidly over the past decade. UAV applications
range from purely scientific over civil to military. Technical
advances in sensor and signal processing technologies enable
the design of light weight and economic airborne platforms.
This paper presents a complete mechatronic design process
of a quadrotor UAV, including mechanical design, modeling
of quadrotor and actuator dynamics and attitude stabilization
control. Robust attitude estimation is achieved by fusion of lowcost
MEMS accelerometer and gyroscope signals with a Kalman
filter. Experiments with a gimbal mounted quadrotor testbed
allow a quantitative analysis and comparision of the PID and
Integral-Backstepping (IB) controller design for attitude stabilization
with respect to reference signal tracking, disturbance
rejection and robustness. Platform: |
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Author:chanqua |
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Description: The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV)
known as the quadrotor are investigated.The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to
avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear
controller is developed to stabilize the attitude.The control design is accomplished by using backstepping control technique.The
proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis
proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the
system are uniformly ultimately bounded in the presence of external disturbance torque.The effectiveness of the proposed control
approach is analytically authenticated and also validated via simulation study. Platform: |
Size: 53248 |
Author:balaji |
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Description: 四旋翼飞行仿真器俯仰角的模糊PID控制器的设计，建立微型四旋翼无人机系统动力学数学模型和电机模型， 在系统模型的基础上设计模糊PID 控制器。通过Matlab/Simulink 仿真对所设计的模糊PID 控制器的有效性进行验证。-Design of Fuzzy PID Controller Flight Simulator four-rotor pitch angle, the establishment of micro four-rotor UAV system dynamics mathematical model and motor model, based on the system model design fuzzy PID controller. By Matlab/Simulink simulation of the effectiveness of the designed fuzzy PID controller for authentication. Platform: |
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Author:xengvonqang |
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Description: 无人机PID控制及智能PID控制器设计及matlab仿真程序，并附录李玮的学位论文 无人机飞行PID控制及智能PID控制技术研究-UAV PID control and intelligent PID controller design and matlab simulation program, and technical studies Appendix Li Wei dissertations UAV flight PID control and intelligent PID control Platform: |
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Author:zhouman |
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Description: VirtualArena是用于控制设计和系统仿真的面向对象的Matlab集成开发环境，其实现目标如下:
1)避免重新实现大多数项目共有的功能，例如:
-离散化策略(例如欧拉向前，龙格库塔，…)
-系统线性化的雅可比计算方法，例如基于符号或样本的方法
-实施标准车辆动力学，如独轮车或类似无人机的车辆，并实施不同的姿态表示，如旋转矩阵或四元数
-状态观测器自动生成，例如扩展卡尔曼滤波器(EKF)
-基于网络的控制器的实施结构
- …
2)建立一套通用接口，允许独立设计和集成不同的组件(例如，车辆模型、控制器、传感器、观察器、...)并实施可重用/透明/易于调试的编程风格。(Virtualarena is an object-oriented matlab integrated development environment for control design and system simulation. Its implementation objectives are as follows:
1) Avoid re implementing features common to most projects, such as:
-Discretization strategies (e.g. Euler forward, longkutta,...) )
-Jacobian calculation methods for system linearization, such as symbol based or sample based methods
-Implement standard vehicle dynamics, such as wheelbarrow or similar UAV vehicles, and implement different attitude representations, such as rotation matrix or quaternion
-Automatic generation of state observers, such as extended Kalman filter (EKF)
-Implementation structure of network-based controller
-...
2) Establish a common set of interfaces that allow independent design and integration of different components (e.g., vehicle models, controllers, sensors, viewers,...) and implement a reusable / transparent / easy to debug programming style.) Platform: |
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Author:吴阿斗 |
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Description: A robust feedback linearization controller is presented for attitude control of an Unmanned Aerial Vehicle
(UAV). The objective of this controller is to make the roll
angle, pitch angle, and yaw angle track the given trajectories(commands) respectively. This design is developed using
dynamic inversion and extended state observer (ESO). Firstly,
dynamic inversion is used to linearize and decouple UAV attitude
system into three single-input-single-output (SISO) systems,
then three proportional-derivative (PD) controllers are designed
for these linearized systems. Extended state observers are
used to estimate and compensate unmodeled dynamics and
extern disturbances. Simulation results show that the proposed
controller is effective and robust. Platform: |
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Author:mrjoe767 |
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