Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors

被引：158

作者：

Liu, Hao ^{[1
]}

Wang, Xiafu ^{[2
]}

Zhong, Yisheng ^{[3
,4
]}

机构：

[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China

[2] High Tech Inst Xian, Xian 710025, Peoples R China

[3] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China

[4] Tsinghua Univ, Tsinghua Natl Lab Informat Sci & Technol, Beijing 100084, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS | 2015年 / 11卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Attitude control; quadrotor; quaternion; robust control; uncertainty; TRACKING CONTROL; HELICOPTER; STABILIZATION; DESIGN; UAVS;

D O I：

10.1109/TII.2015.2397878

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A robust nonlinear attitude control method is proposed for uncertain robotic quadrotors. The proposed controller is developed based on a nonlinear model with the quaternion representation and subject to parameter uncertainties, nonlinearities, and external disturbances. A new state feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop control system. These uncertainties are considered as input equivalent disturbances and their effects are guaranteed to be attenuated. Experimental results are given to show good steady-state and dynamic tracking performance of the closed-loop system by the proposed robust control method compared with other nonlinear control methods.

引用

页码：406 / 415

页数：10

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