Intelligent block spectral factors relocation in a quadrotor unmanned aerial vehicle

摘要

In the present work, we have proposed a new intelligent design procedure, which will achieve the desired latent-structure specifications via the relocation of spectral factors. The method proposed here allows the assignment of the whole set of latent values/vectors obtained from a desired eigenstructure. The quadrotor robot is a quite complex dynamical coupled nonlinear system, then in order to apply the MIMO linear compensation theory and avoiding the complexity of nonlinear control design we have firstly linearised the plant via a state feedback controller and thereafter a regulation and trajectory tracking problems are accurately treated via block pole placement based on the design of MIMO adaptive neuro-fuzzy compensation.