Disturbance observer-based singularity-free trajectory tracking control of uncertain quadrotors with input saturation

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	Disturbance observer-based singularity-free trajectory tracking control of uncertain quadrotors with input saturation
	Wang, Xihui; Su, Xiaofeng; Sun, Liang
作者部门	空间技术部
会议录名称	Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
	2018
页码	5780-5785
语种	英语
ISBN号	9781538612439
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.
关键词	Quadrotor Trajectory Tracking Input Saturation Singularity-free Control Disturbance Observer
会议名称	30th Chinese Control and Decision Conference, CCDC 2018
会议日期	June 9, 2018 - June 11, 2018
会议地点	Shenyang, China
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.nssc.ac.cn/handle/122/6379
专题	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],2018:5780-5785.

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