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Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance
文献类型:期刊
作者:Wang, Chen[1]  Song, Bifeng[2]  Huang, Panfeng[3]  Tang, Changhong[4]  
机构:[1]School of Aeronautics, Northwestern Polytechnical University, Xi��an, 710072, China
[2]School of Aeronautics, Northwestern Polytechnical University, Xi��an, 710072, China
[3]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi��an, 710072, China
[4]AVIC, the First Aircraft Institute, Xi��an, China
通讯作者:Wang, C (reprint author), Northwestern Polytech Univ, Sch Aeronaut, Xian 710072, Peoples R China.
年:2016
期刊名称:JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS影响因子和分区
卷:83
期:2
页码范围:315-333
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000379229900010)  EI(20160401836936)  
所属部门:航空学院;航天学院
被引频次:15
人气指数:360
浏览次数:350
关键词:Adaptive robust control; Quadrotor robot; Sliding-mode control; Trajectory tracking; Wind gust
摘要:
This work proposes a hierarchical nonlinear control scheme for quadrotor to track 3D trajectory subject to payload variation and fast time-varying wind gust disturbance. In terms of dynamics model, the 6 DOF dynamics model with parametric and nonparametric uncertainties is built up. Wind gust and propeller momentum drag model are implemented to quantify the wind impact (force and moment disturbances) on quadrotor. In terms of control design, adaptive robust controller is developed for dynamic su ...More
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