Trajectory tracking problem of a quad-rotor Pendulum

被引：0

作者：

Cai, Fenghuang ^{[1
,2
]}

Lai, Tianyue ^{[1
,2
]}

Chai, Qinqin ^{[1
,2
]}

Wang, Wu ^{[1
,2
]}

机构：

[1] Fuzhou Univ, Sch Elect Engn & Automat, Fuzhou 350116, Fujian, Peoples R China

[2] Fuzhou Univ, Res Ctr Adv Proc Control, Fuzhou 350116, Fujian, Peoples R China

来源：

PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年

关键词：

Quad-rotor Pendulum; Backstepping; nonlinear second-order system;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The quad-rotor pendulum is a multi-variable, nonlinear and non-minimum phase system. There are two main problems considered in controlling the quad-rotor pendulum: one is how to response quickly; the other is to stabilize the quad-rotor pendulum at the expected position. In order to solve these two problems, the Backstepping controller is used to realize it, the simulation results show that the proposed approach is able to robustly stabilize the quad-rotor pendulum and move it to any position.

引用

页码：578 / 582

页数：5

共 13 条

[1]

[Anonymous], IEEE CONTROL SYST

[2]

[Anonymous], P IEEE C DEC CONTR S

[3]

[Anonymous], J I CONTROL

[4] Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests [J].

Choi, Young-Cheol ;

Ahn, Hyo-Sung .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (03) :1179-1192

[5]

Erginer B, 2007, 2007 IEEE INTELLIGENT VEHICLES SYMPOSIUM, VOLS 1-3, P1177

[6]

Jun Li, 2011, Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation (ICMA 2011), P573, DOI 10.1109/ICMA.2011.5985724

[7] STABILIZATION OF THE INVERTED SPHERICAL PENDULUM VIA LYAPUNOV APPROACH [J].

Octavio Gutierrez F., O. ;

Aguilar Ibanez, Carlos ;

Sossa A., Humberto .

ASIAN JOURNAL OF CONTROL, 2009, 11 (06) :587-594

[8]

Pyrkin AA, 2014, MED C CONTR AUTOMAT, P1281, DOI 10.1109/MED.2014.6961552

[9] Nonlinear control of the Reaction Wheel Pendulum [J].

Spong, MW ;

Corke, P ;

Lozano, R .

AUTOMATICA, 2001, 37 (11) :1845-1851

[10] Attitude stabilization of a VTOL quadrotor aircraft [J].

Tayebi, Abdelhamid ;

McGilvray, Stephen .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2006, 14 (03) :562-571

← 1 2 →