Adaptive tracking control of quad-rotor helicopter in quaternion based on input-output linearisation with online estimation of inertia moment. (2015)

• Record Type: Journal Article
• Authors: Kutsuna, Yuta; Ando, Makoto; Yamada, Manabu
• Is Part Of: International journal of advanced mechatronic systems. Volume 6:Number 5(2015)
• Page Start: 237
• Page End: 246
• Publication Date: 2015
• Subjects: quad-rotor helicopters -- quaternion -- nonlinear systems -- linearisation -- adaptive control -- position control -- online estimation -- inertia parameters -- H-infinity control -- tracking control; Mechatronics -- Periodicals; 629.89
• Languages: English
• ISSNs: 1756-8412

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.