Robust Adaptive Attitude Control of Quadrotors with Load Uncertainties

被引：0
|
作者：
Wang, Zhanxiu [1 ]
Liang, Shusen [1 ]
Liu, Tengfei [1 ]
Zhang, Lei [1 ]
机构：
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
Attitude control; quadrotors; load uncertainties; robust adaptive control; VEHICLES; DESIGN;
D O I：
暂无
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, we address problems that can occur during load transport using Unmanned aerial vehicles (UAVs). To begin with, a detailed model of a quadrotor carrying a fixed load with the Center of Gravity (CoG) changes of the transportation system is derived. Then, this problem is solved using robust adaptive attitude control for dynamical uncertaintites in the center of gravity of the quadrotor. Effectiveness of this method is demonstrated by numerical simulations and experiments.
引用
收藏
页码：5962 / 5967
页数：6
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