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�������պ����ѧѧ�� 2011, Vol. 37 Issue (9) :1054-1058    DOI:
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������������ķ�����PID��̬����
�޾���, ������, �̿�Ԫ*
�������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100191
Attitude control of quadrotor aircraft via nonlinear PID
Su Jingya, Fan Penghui, Cai Kaiyuan*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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ժҪ ���������������ķ�������̬�˶�����ѧģ��,�����һ���µļ���ȫ���ȶ��ķ�����PID (Proportional Integral Derivative) ��̬������.�ÿ�������һ������PID�Ŀ��Ʋ��ֺ�һ���������ز����������,�������Ƴ�ֵ���źͷ�ֵ�н��������н�ĸ���.���ַ�����֤�˸ÿ������Ը��ŵ���������.�ڴ����̬����ʵ��ƽ̨�Ͻ����˶�����̬���ٿ���ʵ��.ʵ������ʾ�����Ǻ͹�ת�ǵ�����С��1°,��֤�˸ÿ�������С�Ƕȿ��Ƶ���Ч�ԺͶ�δ��ģ��̬��³����.
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Abstract�� Based on the nonlinear attitude dynamic and kinematic model of a quadrotor aircraft, an almost globally stabilizing nonlinear proportional integral derivative(PID) attitude controller was developed. The proposed controller consists of a linear PID feedback and a compensation of inertia torques, and can reject the external disturbances consisting of not only a constant term but also a bounded and square-integrable term. Simulation results show the effectiveness on disturbances rejection. Experiments of set-point attitude control were conducted on the constructed attitude control platform. Experimental results illustrate that the pitch and roll angular errors are both smaller than one degree, which verifies the effectiveness of the proposed controller on small angle maneuvers and the robustness against unmodeled dynamics.
Keywords�� attitude control   nonlinear proportional integral derivative   quadrotor aircraft     
Received 2010-05-04;
About author: �޾���(1981-),Ů,�ӱ�ʯ��ׯ��,��ʿ��,xiujingya@asee.buaa.edu.cn.
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�޾���, ������, �̿�Ԫ.������������ķ�����PID��̬����[J]  �������պ����ѧѧ��, 2011,V37(9): 1054-1058
Su Jingya, Fan Penghui, Cai Kaiyuan.Attitude control of quadrotor aircraft via nonlinear PID[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(9): 1054-1058
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2011/V37/I9/1054
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