| Disturbance observer-based singularity-free trajectory tracking control of uncertain quadrotors with input saturation | |
| Wang, Xihui; Su, Xiaofeng; Sun, Liang | |
| Department | 空间技术部 |
| Source Publication | Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018 |
| 2018 | |
| Pages | 5780-5785 |
| Language | 英语 |
| ISBN | 9781538612439 |
| Abstract | 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. |
| Keyword | Quadrotor Trajectory Tracking Input Saturation Singularity-free Control Disturbance Observer |
| Conference Name | 30th Chinese Control and Decision Conference, CCDC 2018 |
| Conference Date | June 9, 2018 - June 11, 2018 |
| Conference Place | Shenyang, China |
| Indexed By | EI |
| Document Type | 会议论文 |
| Identifier | http://ir.nssc.ac.cn/handle/122/6379 |
| Collection | 空间技术部 |
| Recommended Citation 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 201808408141.pdf（269KB） | 会议论文 | 开放获取 | CC BY-NC-SA | Application Full Text | ||
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