Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties

被引：36

作者：

Ailon, Amit ^{[1
,2
]}

Arogeti, Shai ^{[3
]}

机构：

[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84105 Beer Sheva, Israel

[2] Afeka, Coll Engn, Dept Elect Engn, Tel Aviv, Israel

[3] Ben Gurion Univ Negev, Dept Mech Engn, IL-84105 Beer Sheva, Israel

来源：

AUTOMATICA | 2015年 / 54卷

关键词：

Quadrotor; Nonlinear system; Trajectory tracking; Parameter & model uncertainties;

D O I：

10.1016/j.automatica.2015.02.020

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 paper presents a new approach for trajectory tracking in a quadrotor-type helicopter. The proposed closed-form control schemes apply smooth bounded hyperbolic functions of the state variables for achieving trajectory tracking in the fully nonlinear system. The current approach accounts for main sources of uncertainties. This is the first time explicit formulas are produced for solutions of the considered control problems. A comparative study with existing controller is presented. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：317 / 324

页数：8

共 15 条

[1]

Ailon A., 2012, IFAC S ROB CONTR DES

[2] Simple Tracking Controllers for Autonomous VTOL Aircraft With Bounded Inputs [J].