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| Attitude Control for Small Unmanned Four-rotor Based on Adaptive Inverse Control |
| LI Jin-Song-a, SONG Li-Bo-a, YAN Guo-Zheng-b |
| （a. Engineering Training Center; b. School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China） |
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Abstract Taking the small unmanned four-rotor as a research object，the attitude control experimental platform was built. The dynamical model of the small fourrotor was built according to Newton-Euler formalism，and adaptive inverse controllers (AIC)was used in the control of the small unmanned four-rotor for the first time. The attitude stabilization control of the small unmanned four-rotor was realized on the experimental control platform. The simulation results and platform control experiment indicate that AIC is real-time and robust in the attitude control of the small unmanned four-rotor.
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Received: 02 September 2011
Published: 28 June 2012
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