Robust Trajectory Tracking Control for Quadrotors with Uncertainties and Delays

被引：0
|
作者：
Liu Hao [1 ]
Tian Yu [1 ]
Yu Yao [2 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
Quadrotors; robust control; uncertainties; time delays;
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, robust trajectory tracking controller design problem is dealt with for quadrotors with uncertainties and delays. The vehicle model is subject to parametric uncertainties, nonlinearity, external disturbances, and state and input time delays. A robust controller is proposed with an attitude controller and a position controller. Theoretical analysis and experimental results are given to validate the effectiveness of the proposed control method.
引用
收藏
页码：2998 / 3001
页数：4
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