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2013 (Vol. 6, Issue: 17)
Article Information:

Modeling and Control of a Quadrotor Helicopter System under Impact of Wind Field

Yanmin Chen, Yongling He and Minfeng Zhou
Corresponding Author:  Yanmin Chen 

Key words:  Attitude control, integral backstepping, lyapunov theory, position control, quadrotor helicopter, wind field,
Vol. 6 , (17): 3214-3221
Submitted Accepted Published
January 15, 2013 February 18, 2013 September 20, 2013
Abstract:

Aiming at the hovering problem of a quadrotor helicopter system under impact of wind field, in this study, a nonlinear integral backtepping controller was designed. The quadrotor helicopter is a nonlinear system which is underactuated and strongly coupled. The wind field would lead to the nonlinear change of aerodynamic force and moment and make the flight condition worse. For the highly nonlinear characteristic of the system, first we establish the dynamic model that considers the effect of wind field via Newton-Euler formalism; and then we develop a controller based on integral backstepping algorithm and validate the stability of the system by Lyapunov theory. Simulation results demonstrate that the model can accurately reflects dynamic performance of the system and the controller presents good robustness in the effect of wind field.
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  Cite this Reference:
Yanmin Chen, Yongling He and Minfeng Zhou, 2013. Modeling and Control of a Quadrotor Helicopter System under Impact of Wind Field.  Research Journal of Applied Sciences, Engineering and Technology, 6(17): 3214-3221.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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