Step by step robust nonlinear PI for attitude stabilisation of a four-rotor mini-aircraft

System Identification of Quadrotor Aircrafts Based on an Improved PSO

“…Where is the position of a particle, is its velocity, and are accelerate constants, and are random numbers within [0,1], is the best position the particle has searched so far, and is the best position the particle swarm has searched so far.…”

“…The whole system exhibits significant non-linearity and coupling [1,2]. Therefore, the conventional system identification methods (e.g.…”

Modeling and control approach to a distinctive quadrotor helicopter

“…Tayebi and McGilvray [2] provided a PD 2 feedback structure, which had the exponential convergence property due to the compensation of the Coriolis and gyroscopic torques. Bouchoucha et al [3] presented an approach which is based on the combination of a backstepping technique and a robust nonlinear PI controller to stabilize the quadrotor attitude. A switching function was constructed to achieve a robust behavior for the overall control law, but the choice of the PI gains would be a restriction of this method.…”

Robust Stabilization Of A Quadrotor Uav In Presence Of Actuator And Sensor Faults

“…The quadrotors, has been studied recently by some authors [14], [8], [2], [15], [16], [11], [20], [3], [4], [1], [6], [12], [17], [10], [13], [9], [18], [7], [5]. These systems as many other dynamic systems, present constant or slowly-varying uncertain parameters, but these authors do not take into account the faults affecting the actuators and sensors of our system, wich makes them very limited and induces undesired behavior of quadrotor, or even to instability of the latter after occurence of actuator and sensor faults.…”