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论文类型：期刊论文

发表时间：2018-12-01

发表刊物：IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY

收录刊物：SCIE、Scopus

卷号：67

期号：12

页面范围：11365-11376

ISSN号：0018-9545

关键字：Quadrotor; modeling; controlled Hamiltonian systems; attitude and position controller; hardware-in-the-loop simulation

摘要：In this paper, a new mathematical model of quadrotor is proposed by using the Hamiltonian approach, which has more advantages than Newtonian and Lagrangian approaches in some aspects such as compactness, easiness of controller design, and its symplectic structure. The Hamiltonian model of a quadrotor is a first-order differential equation whose states include generalized position and momentum that contain information about both the corresponding velocity and generalized mass. A nonlinear controller is proposed based on the proposed symplectic Hamiltonian model. The controller includes two sub-controllers-attitude sub-controller and position sub-controller. Furthermore, the stability of the designed controller is verified by Lyapunov stability theorem and the controller is provided with exponential stability. The effectiveness of the proposed model and the designed controller is demonstrated not only by software-in-the-loop simulations but also by hardware-in-the-loop simulations. Real-time experimental results show that the proposed controller is able to carry out the tasks of taking off, tracking fixed point, hovering, and landing.