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论文类型：会议论文

发表时间：2017-01-01

收录刊物：Scopus、EI、CPCI-S

页面范围：5137-5141

关键字：Quadrotor; Modeling; Controlled Hamiltonian System; Attitude Controller

摘要：In this paper, a new mathematical model of quadrotor is proposed by using Hamiltonian approach, which has more advantages than Newtonian and Lagrangian approaches in some aspects, such as compactness, easiness to design controller and having symplectic structure. The Hamiltonian model of quadrotor is the first-order differential equations, whose states are generalized position including North-East-Down (NED) position, Euler-degrees and generalized momenta which are obtained by Legendre transformation from Lagrangian function. A novel nonlinear attitude controller is proposed based on the model. Furthermore, the stability analysis of both of the designed controllers is verified by Lyapunov stability theory. The effectiveness of the proposed model and the designed controller are demonstrated by simulations.