Nonlinear Control of a Quadrotor With Deviated Center of Gravity

被引：21

作者：

Xian, Bin ^{[1
]}

Zhao, Bo ^{[1
]}

Zhang, Yao ^{[1
]}

Zhang, Xu ^{[1
]}

机构：

[1] Tianjin Univ, Sch Elect Engn & Automat, Tianjin 30072, Peoples R China

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 01期

关键词：

IMMERSION; INVARIANCE; SYSTEMS; STABILIZATION;

D O I：

10.1115/1.4034366

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new adaptive tracking controller is developed for a quadrotor unmanned aerial vehicle (UAV) via immersion and invariance (I&I) approach. The controller is able to compensate parametric uncertainties such as the unmeasurable effects of the deviated center-of-gravity (CoG), as well as the aerodynamic coefficients. The globally asymptotic tracking of the desired attitude trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results performed on a quadrotor attitude control testbed are given to show the good control performance of the proposed scheme.

引用

页数：8

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