Disturbance Observer based Trajectory Tracking Controller for Quadrotor

被引：0

作者：

Lee, Kooksun ^{[1
]}

Back, Juhoon ^{[1
]}

Choy, Ick ^{[1
]}

机构：

[1] Kwangwoon Univ, Sch Robot, Seoul, South Korea

来源：

2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2012年

关键词：

Quadrotor; Trajectory tracking controller; Attitude control; Disturbance observer;

D O I：

暂无

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 paper employs a nonlinear disturbance observer (DOB), developed recently, to design a robust trajectory tracking controller for quadrotors. We prove that the proposed controller recovers the performance of the nominal closed-loop system under parameter uncertainties and disturbance torques. The results are validated through simulations and compared with a previous approach.

引用

页码：157 / 161

页数：5

共 13 条

[1]

[Anonymous], 2009, 2009 IEEE INT C MECH

[2] Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer [J].