NDLI: Robust trajectory tracking control of uncertain quadrotors without linear velocity measurements

Content Provider	IET Digital Library
Author	Liu, Hao Li, Danjun Yu, Yao Zhong, Yisheng
Abstract	In this brief, robust trajectory tracking control problem for quadrotors is investigated to improve the tracking performance of the closed-loop control system subject to parametric uncertainties, non-linearity and coupling, unmodelled dynamics, and external disturbances. The vertical, lateral, longitudinal and yaw motions of the vehicle are required to be controlled along desired trajectories simultaneously. The proposed linear-decentralised controller consists of three parts: an observer to estimate the linear velocities, which cannot be measured directly, a position controller to achieve the trajectory tracking and produce the desired references for the pitch and roll angles, and an attitude controller to stabilise the attitude angles. The robustness properties of the whole uncertain closed-loop control system are proven. Experimental results are given to demonstrate the effectiveness of the proposed closed-loop control system.
Starting Page	1746
Ending Page	1754
Page Count	9
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 11, Jul (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.1347
Journal	IET Control Theory & Applications
Publisher Date	2015-05-22
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Attitude Angle Stability Attitude Controller Closed Loop System Closed-loop Control System Coupling Decentralised Control External Disturbances Helicopters Linear Decentralised Controller Linear Velocities Linear Velocity Measurement Modelling And Identification Multivariable Control System Observer Observers Parametric Uncertainty Position Control Position Controller Robust Control Robust Trajectory Tracking Control Simulation Spatial Variables Control Stability in Control Theory Trajectory Optimisation (aeroSpace) Uncertain Closed-loop Control System Uncertain Quadrotors Uncertain System Unmodelled Dynamics
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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