中国科学院机构知识库网格系统: Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE)

中国科学院机构知识库网格

Chinese Academy of Sciences Institutional Repositories Grid

Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE)

文献类型：会议论文


作者	Sun Q.
出版日期	2011
会议名称	2011 International Conference on Materials, Mechatronics and Automation, ICMMA 2011, January 15, 2011 - January 16, 2011
会议地点	Melbourne, VIC, Australia
关键词	This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration the autonomous trajectory tracking is realized. The model uncertainty external disturbance and the senor noise are also taken into consideration. Then the H controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.
页码	1421-1426
收录类别	EI
源URL	[http://ir.ciomp.ac.cn/handle/181722/33013]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Sun Q.. Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE)[C]. 见:2011 International Conference on Materials, Mechatronics and Automation, ICMMA 2011, January 15, 2011 - January 16, 2011. Melbourne, VIC, Australia.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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