Disturbance observer-based singularity-free trajectory tracking control of uncertain quadrotors with input saturation
文献类型：会议论文
| 作者 | Wang, Xihui; Su, Xiaofeng; Sun, Liang |
| 出版日期 | 2018 |
| 会议日期 | June 9, 2018 - June 11, 2018 |
| 会议地点 | Shenyang, China |
| 关键词 | Quadrotor Trajectory Tracking Input Saturation Singularity-free Control Disturbance Observer |
| 页码 | 5780-5785 |
| 英文摘要 | This paper presents a robust nonlinear controller based on disturbance observer for a quadrotor with input saturation and modeling uncertainties. The controller is designed with the hierarchial inner-outer loop structure. The position controller is constructed with the saturation function to achieve the nonsingular and bounded trajectory tracking. The speed of motor can work in a reasonable range without saturation by appropriate parameters selections criteria of controller magnitude. The attitude loop controller is designed based on the attitude representation of unit-quaternion and backstepping technique to achieve the attitude tracking. The second-order disturbance observers are employed to estimate and compensate the input saturation and unmodeled dynamics. Simulation results are illustrate the effectiveness of the proposed control algorithm. © 2018 IEEE. |
| 会议录 | Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
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| 语种 | 英语 |
| ISBN号 | 9781538612439 |
| 源URL | [http://ir.nssc.ac.cn/handle/122/6379]  |
| 专题 | 国家空间科学中心_空间技术部 |
| 推荐引用方式 GB/T 7714 | Wang, Xihui,Su, Xiaofeng,Sun, Liang. Disturbance observer-based singularity-free trajectory tracking control of uncertain quadrotors with input saturation[C]. 见:. Shenyang, China. June 9, 2018 - June 11, 2018. |
入库方式： OAI收割
来源：国家空间科学中心
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