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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 PublicationProceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
2018
Pages5780-5785
Language英语
ISBN9781538612439
AbstractThis 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.
KeywordQuadrotor Trajectory Tracking Input Saturation Singularity-free Control Disturbance Observer
Conference Name30th Chinese Control and Decision Conference, CCDC 2018
Conference DateJune 9, 2018 - June 11, 2018
Conference PlaceShenyang, China
Indexed ByEI
Document Type会议论文
Identifierhttp://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.
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