Robust Trajectory-Tracking Control of a PVTOL under Crosswind

被引：25

作者：

Aguilar-Ibanez, Carlos ^{[1
]}

Sira-Ramirez, Hebertt ^{[2
]}

Suarez-Castanon, Miguel S. ^{[3
]}

Garrido, Ruben ^{[4
]}

机构：

[1] Inst Politecn Nacl, Ctr Invest Comp, Ave Juan de Dios Batiz S-N,AP 75476, Mexico City 07738, DF, Mexico

[2] IPN, CINVESTAV, Dept Elect Engn, Ave IPN 2508, Mexico City 07360, DF, Mexico

[3] Inst Politecn Nacl, Escuela Super Comp, Ave Juan de Dios Batiz S-N San Pedro Zacatenco, Mexico City 07738, DF, Mexico

[4] IPN, CINVESTAV, Dept Automat Control, Ave IPN 2508, Mexico City 07360, DF, Mexico

来源：

ASIAN JOURNAL OF CONTROL | 2019年 / 21卷 / 03期

关键词：

PVTOL system; trajectory-tracking control; input-output feedback linearization; active disturbance rejection control; GPI-based observer; QUADROTOR HELICOPTER SUBJECT; CONTROL DESIGN; NONLINEAR CONTROLLER; GLOBAL STABILIZATION; CONTROL STRATEGY; ATTITUDE-CONTROL; AIRCRAFT; MODEL; SYSTEMS; IMPLEMENTATION;

D O I：

10.1002/asjc.1817

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work proposes a robust controller to solve the trajectory-tracking control problem of planar vertical take-off and landing (PVTOL) aircraft under crosswind. The controller combines input-output feedback linearization and active disturbance rejection control techniques. The former linearizes the PVTOL dynamics and the latter actively estimates and compensates for the crosswind effects. Numerical simulations assess the effectiveness of the proposed approach.

引用

页码：1293 / 1306

页数：14

共 54 条

[31] Autonomous vertical landing on an oscillating platform: an internal-model based approach
Marconi, L
Isidori, A
Serrani, A
[J]. AUTOMATICA, 2002, 38 (01) : 21 - 32
[32] MARTIN P, 1994, IEEE DECIS CONTR P, P2376, DOI 10.1109/CDC.1994.411460
[33] Martinez-Guerra R., 2004, IMA Journal of Mathematical Control and Information, V21, P493, DOI 10.1093/imamci/21.4.493
[34] Linear active disturbance rejection control of the hovercraft vessel model
Morales, R.
Sira-Ramirez, H.
Somolinos, J. A.
[J]. OCEAN ENGINEERING, 2015, 96 : 100 - 108
[35] Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers
Morales, R.
Sira-Ramirez, H.
Somolinos, J. A.
[J]. MULTIBODY SYSTEM DYNAMICS, 2014, 32 (04) : 511 - 533
[36] Robust Nonlinear Real-time Control Strategy to Stabilize a PVTOL Aircraft in Crosswind
Munoz, Laura E.
Santos, Omar
Castillo, Pedro
[J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 1606 - 1611
[37] Path Following for the PVTOL: A Set Stabilization Approach
Nielsen, C.
Consolini, L.
Maggiore, M.
Tosques, M.
[J]. 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 584 - 589
[38] Notarstefano G, 2005, IEEE DECIS CONTR P, P5848
[39] Global configuration stabilization for the VTOL aircraft with strong input coupling
Olfati-Saber, R
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2002, 47 (11) : 1949 - 1952
[40] Control strategy using vision for the stabilization of an experimental PVTOL aircraft setup
Palomino, A
Castillo, P
Fantoni, I
Lozano, R
Pégard, C
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2005, 13 (05) : 847 - 850

← 1 2 3 4 5 6 →