Earticle

초록

영어

In this paper, we investigate the trajectory tracking problem for the 6-DOF quadrotor aircraft with both internal uncertainties and external disturbances. The nonlinear system model is established based on Modified Rodrigues Parameters and the error model is then obtained based on the trajectory tracking task. To deal with the cascade property of the controlled objective, the system is divided into the translational and rotational subsystem, respectively. Hence, a hierarchical technique is introduced to implement the control system. Then, nonlinear disturbance observer based backstepping control strategy is proposed based on each subsystem. Global stability of the closed-loop system is analyzed based on Lyapunov theorem. Simulation results verify the effectiveness of the proposed control scheme.

목차

Abstract
 1. Introduction
 2. System Model
 3. Problem Formulation
 4. Controller Design and Stability Analysis
  4.1. Controller Design
  4.2. Stability Analysis
 5. Simulations and Analysis
 6. Conclusions
 References

키워드

저자

• Zhong-chao Jin [ School of Computer and Information, Anqing Teachers College, Anqing, Anhui 246133 China ]
• Gong Meng [ Beijing Aerospace Automatic Control Institute, Beijing 100854 China ]
• Lu Wang [ Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240 China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605