Adaptive tracking control of quad-rotor helicopter in quaternion based on input-output linearisation with online estimation of inertia moment
by Yuta Kutsuna; Makoto Ando; Manabu Yamada
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 6, No. 5, 2015

Abstract: In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations, which make it difficult to control. This paper presents a useful exact input-output linearisation in the quaternion of the helicopter by using a non-singular input transformation. This linearisation provides both simple controller designs and higher level control performance, for example, the H-infinity control. In addition, this paper presents an adaptive tracking controller with online estimation of the uncertain inertia parameters to make the tracking error zero asymptotically for the position.

Online publication date: Tue, 03-Nov-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com