title: Modeling and control approach to a distinctive quadrotor helicopter.
abstract: The referenced quadrotor helicopter in this paper has a unique configuration. It is more complex than commonly used quadrotors because of its inaccurate parameters, unideal symmetrical structure and unknown nonlinear dynamics. A novel method was presented to handle its modeling and control problems in this paper, which adopts a MIMO RBF neural nets-based state-dependent ARX (RBF-ARX) model to represent its nonlinear dynamics, and then a MIMO RBF-ARX model-based global LQR controller is proposed to stabilize the quadrotor's attitude. By comparing with a physical model-based LQR controller and an ARX model-set-based gain scheduling LQR controller, superiority of the MIMO RBF-ARX model-based control approach was confirmed. This successful application verified the validity of the MIMO RBF-ARX modeling method to the quadrotor helicopter with complex nonlinearity.
authors.affiliation: School of Information Science & Engineering, Central South University, Changsha, Hunan 410083, China; School of Electrical & Information Engineering, Changsha University of Science & Technology, Changsha, Hunan 410004, China. Electronic address: jun.wu@csu.edu.cn.
authors.forename: Jun
authors.initials: J
authors.lastname: Wu
authors.affiliation: School of Information Science & Engineering, Central South University, Changsha, Hunan 410083, China; Hunan Engineering Laboratory for Advanced Control and Intelligent Automation, Changsha, Hunan 410083, China. Electronic address: huipeng@mail.csu.edu.cn.
authors.forename: Hui
authors.initials: H
authors.lastname: Peng
authors.affiliation: China Machinery International Engineering Design & Research Institute, Changsha, Hunan 410007, China. Electronic address: coolchen302@qq.com.
authors.forename: Qing
authors.initials: Q
authors.lastname: Chen
authors.affiliation: College of Mechanical and Automobile Engineering, Hunan University, Changsha, Hunan 410082, China. Electronic address: xiaoyan_p@126.com.
authors.forename: Xiaoyan
authors.initials: X
authors.lastname: Peng
keywords: ARX model; Nonlinear system; Physical model; Quadrotor helicopter; RBF-ARX model