Multivariable finite-time output feedback trajectory tracking control of quadrotor helicopters

被引：65
|
作者：
Tian, Bailing [1 ,2 ]
Lu, Hanchen [1 ]
Zuo, Zongyu [3 ]
Zong, Qun [1 ]
Zhang, Yunpeng [4 ]
机构：
[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China
[2] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Liaoning, Peoples R China
[3] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China
[4] FACRI, Sci & Technol Aircraft Control Lab, Xian 710065, Shaanxi, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2018年 / 28卷 / 01期
基金：
中国国家自然科学基金;
关键词：
finite-time stability; output-feedback; quadrotor helicopters; SLIDING MODE CONTROL; ATTITUDE-CONTROL; HOMOGENEITY;
D O I：
10.1002/rnc.3869
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A continuous multivariable output feedback control scheme is developed for trajectory tracking and attitude stabilization of quadrotor helicopters. The whole closed-loop system is composed by position loop and attitude loop. The homogeneous technique is used to design finite-time stabilizing controller and observer in each loop. The virtual control is introduced in position loop to ensure that the real control is smooth enough such that it can be tracked by attitude loop. The finite-time stability of the closed-loop system is guaranteed through homogeneity and Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by numerical simulations.
引用
收藏
页码：281 / 295
页数：15
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