An Output Feedback Attitude Tracking Controller Design for Quadrotor Unmanned Aerial Vehicles Using Quaternion

被引：0
|
作者：
Diao, Chen [1 ]
Xian, Bin [1 ]
Zhao, Bo [1 ]
Zhang, Xu [1 ]
Liu, Shibo [1 ]
机构：
[1] Tianjin Univ, Inst Robot & Autonomous Syst, Tianjin Key Lab Proc Measurement & Control, Schoool Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a quaternion based nonlinear output feedback tracking controller is developed to address the attitude and altitude tracking problem of a quadrotor unmanned aerial vehicle (UAV) which is subject to structural uncertainties and unknown external disturbances. A set of filters are introduced to provide estimation for the unmeasurable quadrotor UAV's angular and translational velocity signals. The Lyapunov based stability analysis ensures that a semi-global asymptotic tracking result is achieved and all closed loop states remain bounded with a suitable choice of control gains.
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收藏
页码：3051 / 3056
页数：6
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