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CLC number: V249
On-line Access: 2008-01-30
Received: 2007-08-11
Revision Accepted: 2007-11-26
Crosschecked: 0000-00-00
Cited: 11
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Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft
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Ashfaq Ahmad MIAN, Dao-bo WANG. Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft[J]. Journal of Zhejiang University Science A, 2008, 9(4): 539-545.
@article{title="Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft",
author="Ashfaq Ahmad MIAN, Dao-bo WANG",
journal="Journal of Zhejiang University Science A",
volume="9",
number="4",
pages="539-545",
year="2008",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A071434"
}
%0 Journal Article
%T Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft
%A Ashfaq Ahmad MIAN
%A Dao-bo WANG
%J Journal of Zhejiang University SCIENCE A
%V 9
%N 4
%P 539-545
%@ 1673-565X
%D 2008
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A071434
TY - JOUR
T1 - Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft
A1 - Ashfaq Ahmad MIAN
A1 - Dao-bo WANG
J0 - Journal of Zhejiang University Science A
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SP - 539
EP - 545
%@ 1673-565X
Y1 - 2008
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A071434
Abstract: In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.
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