基于鲁棒补偿的四旋翼飞行器设计与实现

doi:10.3969/j.issn.0255-8297.2017.03.013

Abstract

Abstract:

In view of the shortage of the means for water environment monitoring, a monitoring method using four-rotor drones is proposed. The drone can fly above the water to obtain aerial videos, and also hover and ski over the water with the camera and monitoring sensors submerged underwater for real-time monitoring. An attitude controller based on robust compensation and a position controller based on PID method are designed. With the constructed prototype drone, hovering and water skiing tests were conducted. A waterproof camera and other sensors combined with wireless modules were used to realize real-time monitoring of the underwater environment.

Key words: controller, environment monitoring, four-rotor drone

CLC Number:

TP274

JING Dan-xiang, HAN Jun, WANG Guan-yu, ZHOU Han-yun, WU Jian-yong, CHEN Gui-hui. Design and Implementation of a Four-Rotor Drone Based on Robust Compensator[J]. Journal of Applied Sciences, 2017, 35(3): 394-404.

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URL: https://www.jas.shu.edu.cn/EN/10.3969/j.issn.0255-8297.2017.03.013

https://www.jas.shu.edu.cn/EN/Y2017/V35/I3/394

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Design and Implementation of a Four-Rotor Drone Based on Robust Compensator

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