中国科学院机构知识库网格系统: 检索

浏览/检索结果: 共4条，第1-4条

帮助

条数/页：排序方式：
	Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE) 会议论文 OAI收割 2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012, Dalian, China Gong X.; Bai Y.; Peng C.; Zhao C.; Tian Y. 收藏 \| 浏览/下载：36/0 \| 提交时间：2013/03/25 A quad-rotor unmanned aerial vehicle is an under-actuated strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.
	增量式滑模控制方法在一类欠驱动系统中的应用研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2009 作者: 郝银星收藏 \| 浏览/下载：227/0 \| 提交时间：2015/09/02 增量式滑模控制欠驱动系统 Incremental Variable Structure Control Under-actuated Systems
	一类欠驱动系统的分层递阶滑模控制方法的研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2008 作者: 钱殿伟收藏 \| 浏览/下载：187/0 \| 提交时间：2015/09/02 变结构控制欠驱动系统分层递阶 Variable Structure Control Under-actuated Systems Hierarchy
	基于专家系统的变步长一步预测控制与应用学位论文 OAI收割工学硕士, 中国科学院自动化研究所: 中国科学院研究生院, 2003 朱江滨收藏 \| 浏览/下载：36/0 \| 提交时间：2015/09/02 倒立摆非线性欠驱动机构预测控制专家系统 Expert system Inverted pendulum Nonlinear Predictive control Under-actuated structure