Bilinear modelling and attitude control of a quadrotor
dc.contributor.author | Seah, Chee Hwee | |
dc.contributor.author | Inyang, Isonguyo J. | |
dc.contributor.author | Whidborne, James F. | |
dc.date.accessioned | 2018-01-18T15:54:00Z | |
dc.date.available | 2018-01-18T15:54:00Z | |
dc.date.issued | 2018-01-11 | |
dc.description.abstract | The design of a bilinear controller for a quadrotor and its subsequent stability and performance are presented. A Carleman bilinearization technique is applied to the the nonlinear equations of motion of a quadrotor to obtain a bilinear model which is used as the basis for a bilinear PD controller design. For comparison purposes, a linear model of the quadrotor is also developed and used as the basis for PD controller design. Results for a transient simulation of the proposed BPD controller are presented and compared with that of the PD controller. The results show that the bilinear PD controller gives more improved responses over a broader operating range with respect to stability and performance compared to the PD controller. | en_UK |
dc.identifier.citation | Seah CW, Inyang IJ, Whidborne JF. (2017) Bilinear modelling and attitude control of a quadrotor, IFAC-PapersOnLine, Volume 50, Issue 2, December 2017, pp. 193-198 | en_UK |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://dx.doi.org/10.1016/j.ifacol.2017.12.035 | |
dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/12907 | |
dc.language.iso | en | en_UK |
dc.publisher | Elsevier | en_UK |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Quadrotor | en_UK |
dc.subject | Bilinear modelling | en_UK |
dc.subject | Attitude control | en_UK |
dc.subject | Bilinear PD | en_UK |
dc.title | Bilinear modelling and attitude control of a quadrotor | en_UK |
dc.type | Article | en_UK |
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