Modeling and Adaptive Backstepping Control for Quadrotor Aerial Robots with Blade Flapping

• Main Authors: Wen-Cong Xu, 徐聞聰
• Other Authors: 林麗章
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/97404293851111595357

碩士 === 國立中興大學 === 機械工程學系所 === 103 === In this thesis, we consider the modeling and control design for a quadrotor aerial robot. First, we define the inertial frame and body frame for the robot, and derive the kinematics model. Then Newton’s second law and Euler’s equation of motion are used to derive the robot’s 3D dynamics model. When the propelling rotor rotating with respect to the moving robot, the rotating blades could be deflected with an effect on the aerial vehicles known as flapping. The modeling with blade flapping is also considered in the thesis. Then, based on the backstepping method, a nonlinear stable control law for the 3D translation and yaw tracking is derived. Furthermore, a stable nonlinear adaptive controller with flapping parameters estimation is also proposed using the backstepping approach. Finally, computer simulations are conducted to illustrate the performance of the proposed control strategies. In the simulations, the desired trajectories are generated using the cubic spline interpolation.