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2016-03-09 发布于山东
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Guidance and Control Laws for Quadrotor strongUAVstrong - WSEAS.pdf

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WSEAS TRANSACTIONS on SYSTEMS and CONTROL Tain-Sou Tsay Guidance and Control Laws for Quadrotor UAV Tain-Sou Tsay, Department of Aeronautical Engineering, National Formosa University, 64, Wen Hua Road, Huwei, Yunlin, 63208, Taiwan tstsay@.tw Abstract In this literature, guidance and control laws using a basic control system have been proposed for analyses and designs of a Quadrotor. The basic control system includes: (a)height Control system using velocity stabilizing in the inner loop; (b)roll, pitch and yaw attitude control systems using angular rate stabilizing in inner loops. Base upon the basic control system, the X and Y body axes velocities control laws and locus B B tracking laws are added. This application is different from conventional velocity, and position control techniques of conventional fix-fin UAV’s. The major merit of the proposed method is the controlled Quadrotor can tracking the target quickly while keep heading almost not be changed. The proposed method is verified by vast digital simulations. They give good performance. Keywords ：Quadrotor, Guidance and Control Laws, Locus Tracking 1. Introductions similar way, the roll angle ( ) or pitch angle (θ) Unmanned Aeria