Robust attitude control of uncertain quadrotors

被引：54
|
作者：
Liu, Hao [1 ]
Bai, Yongqiang [2 ]
Lu, Geng [1 ]
Zhong, Yisheng [1 ]
机构：
[1] Tsinghua Univ, TNList, Dept Automat, Beijing 100084, Peoples R China
[2] Luoyang Elect EquipmentTest Ctr China, Luoyang 471003, Henan Province, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2013年 / 7卷 / 11期
基金：
中国国家自然科学基金;
关键词：
TRACKING CONTROL; FLIGHT CONTROL; HELICOPTER; DESIGN; STABILIZATION; SUBJECT;
D O I：
10.1049/iet-cta.2012.0964
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study presents a controller design method to achieve the robust attitude control for uncertain quadrotors. The proposed linear time-invariant controller consists of a proportional-derivative (PD) controller and a robust compensator. The PD controller is designed for the nominal linear system to achieve the desired tracking and the robust compensator is added to restrain the influence of the uncertainties. It is proven that attitude tracking errors are bounded and the boundaries can be made as small as desired. Experimental results on the quadrotor are given to confirm the effectiveness of this control method.
引用
收藏
页码：1583 / 1588
页数：6
相关论文
共 50 条
  • [1] Robust Attitude Control for Uncertain Quadrotors with Input Time Delays
    Liu, Hao
    Liu, Deyuan
    Zuo, Zongyu
    [J]. 2016 EUROPEAN CONTROL CONFERENCE (ECC), 2016, : 2312 - 2315
  • [2] Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors
    Liu, Hao
    Wang, Xiafu
    Zhong, Yisheng
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2015, 11 (02) : 406 - 415
  • [3] DECOUPLED ROBUST VELOCITY CONTROL FOR UNCERTAIN QUADROTORS
    Liu, Hao
    Hou, Xiaolei
    Kim, Jonghyuk
    Zhong, Yisheng
    [J]. ASIAN JOURNAL OF CONTROL, 2015, 17 (01) : 225 - 233
  • [4] Robust attitude control for quadrotors with input time delays
    Liu, Hao
    Li, Danjun
    Zuo, Zongyu
    Zhong, Yisheng
    [J]. CONTROL ENGINEERING PRACTICE, 2017, 58 : 142 - 149
  • [5] Robust Adaptive Attitude Control of Quadrotors with Load Uncertainties
    Wang, Zhanxiu
    Liang, Shusen
    Liu, Tengfei
    Zhang, Lei
    [J]. PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 5962 - 5967
  • [6] Quaternion-Based Robust Attitude Control for Quadrotors
    Liu, Hao
    Wang, Xiafu
    [J]. 2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'15), 2015, : 920 - 925
  • [7] Contact force tracking of quadrotors based on robust attitude control
    Izaguirre-Espinosa, Carlos
    Munoz-Vazquez, Aldo-Jonathan
    Sanchez-Orta, Anand
    Parra-Vega, Vicente
    Castillo, Pedro
    [J]. CONTROL ENGINEERING PRACTICE, 2018, 78 : 89 - 96
  • [8] Quaternion-based robust trajectory tracking control for uncertain quadrotors
    He, Tianpeng
    Liu, Hao
    Li, Shu
    [J]. SCIENCE CHINA-INFORMATION SCIENCES, 2016, 59 (12)
  • [9] Quaternion-based robust trajectory tracking control for uncertain quadrotors
    Tianpeng He
    Hao Liu
    Shu Li
    [J]. Science China Information Sciences, 2016, 59
  • [10] Quaternion-based robust trajectory tracking control for uncertain quadrotors
    Tianpeng HE
    Hao LIU
    Shu LI
    [J]. Science China(Information Sciences), 2016, 59 (12) : 220 - 232
12345