NONLINEAR CONTROL OF A TRI-ROTOR BASED ON THE DECOMPOSITION THE DYNAMIC MODEL AND FEEDBACK LINEARIZATION

Authors

  • Van Thanh Dang Institute of Military Science and Technology
  • Duc Thuan Tran Institute of Military Science and Technology
  • Quang Chinh Hoang Le Quy Don Technical University
  • Cong Toan Nguyen Naval Academy

DOI:

https://doi.org/10.56651/lqdtu.jst.v15.n01.90

Keywords:

Tri-rotor UAV, feedback linearization, dynamic model;, nonlinear control, module optimization

Abstract

This paper presents the tri-rotor UAV dynamic modeling and divides it to the control loops under the condition that the response of the inner loop is faster than the response of the outer loop. From diagram of the control loops, attitude, velocity and position controllers have been synthesized based on feedback linearization and module optimization methods. The stability of the attitude loop is proved by Lyapunov theory. Finally, the simulation results on MATLAB/Simulink confirm that the synthesized controllers are realizable in all flying modes with control parameters such as the settling time is about 5-8s and overshot is approximately equal to zero.

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Published

2021-01-16

How to Cite

Dang , V. T., Tran , D. T., Hoang , Q. C., & Nguyen , C. T. (2021). NONLINEAR CONTROL OF A TRI-ROTOR BASED ON THE DECOMPOSITION THE DYNAMIC MODEL AND FEEDBACK LINEARIZATION. Journal of Science and Technique, 15(01). https://doi.org/10.56651/lqdtu.jst.v15.n01.90

Issue

Vol. 15 No. 01 (2020)

Section

Article