Trajectory Tracking Control Performance Analysis of a Quadrotor in the Presence of External Disturbances

被引：1
作者：
Bayrak, Abdurrahman [1 ]
Demirezen, M. Umut [1 ]
Efe, Mehmet Onder [2 ]
机构：
[1] STM Def Inc, Dept Artificial Intelligence, Ankara, Turkey
[2] Hacettepe Univ, Dept Comp Engn, Ankara, Turkey
来源：
2018 2ND EUROPEAN CONFERENCE ON ELECTRICAL ENGINEERING AND COMPUTER SCIENCE (EECS 2018) | 2018年
关键词：
trajectory tracking; external disturbances; quadrotor; LQR; PD; SMC; SLIDING MODE CONTROL;
D O I：
10.1109/EECS.2018.00068
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents a trajectory tracking control performance analysis of some common controllers in the presence of external disturbances for Crayzflie 2.0 nano quadrotor platform. For this purpose, the mathematical model of a quadrotor and physical parameters of Crazyflie 2.0 are summarized, and LQR, PD and SMC approaches are developed for it. After that, the performances of them are investigated through simulations in the presence of matched external disturbances in the horizontal plane for a squared trajectory. Simulation results indicate that PD and LQR controllers perform satisfactory results for a certain degree of bounds based on the linearized quadrotor dynamics without any disturbance, while SMC provides more robust performance even in the presence of external disturbances for trajectory tracking.
引用
收藏
页码：335 / 341
页数：7
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