An Attitude Stabilization Method for Quadrotor Helicopter Using Brushless Motors

Abstract:

It is an important practical design problem for control system design of quadrotor helicopters with accurately actuator modeling, which is not mentioned in many previous works. In order to improve the performance of attitude stabilization control system, a new strategy is proposed in this paper. This control strategy is based on the accurately nonlinear modeling of the brushless motors using the Hammerstein series models. Furthermore the identification method to obtain such models from observed input-output data is presented. After models of four brushless motor are obtained, a backstepping attitude controller is designed to stabilize the quadrotor helicopter. Flight experiments show that the proposed control strategy can achieve higher performance than past ones.

• Periodical: Applied Mechanics and Materials (Volumes 427-429)
• Pages: 433-437
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.427-429.433
• Online since: September 2013
• Authors: Fang Jing*, Li Ning Tan, Di Wang, Ting Ting Zhang
• Keywords: Attitude Control, Backstepping, Hammerstein Series Model, Nonlinear System, Quadrotor Helicopter

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