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Indexed by:会议论文

Date of Publication:2017-01-01

Included Journals:Scopus、EI、CPCI-S

Page Number:5137-5141

Key Words:Quadrotor; Modeling; Controlled Hamiltonian System; Attitude Controller

Abstract: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.