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Quad‐Rotor Modeling and Attitude Control Using S tate‐ D ependent ARX Type Model
Author(s) -
Zeng Xiaoyong,
Peng Hui,
Wu Jun,
Wei Jimin
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.830
Subject(s) - control theory (sociology) , autoregressive model , rotor (electric) , controller (irrigation) , range (aeronautics) , process (computing) , engineering , function (biology) , model predictive control , attitude control , control (management) , computer science , control engineering , mathematics , artificial intelligence , mechanical engineering , agronomy , econometrics , biology , aerospace engineering , operating system , evolutionary biology
Abstract A state‐dependent autoregressive with exogenous variables ( SD‐ARX ) model whose functional coefficients are approximated by sets of radial basis function ( RBF ) networks is proposed to describe the dynamic behavior of a quad‐rotor in this paper. This model is identified offline and used as an internal predictor of a receding horizon predictive controller to address the quad‐rotor's attitude control issue. In addition, the physical constraints of the system have been also taken into account during the controller design process. The results of real‐time control on a quad‐rotor aircraft illustrate satisfactory modeling accuracy in a large operating range and good performance of control approach proposed in this paper.