Nonlinear Control of a Quadrotor With Deviated Center of Gravity-Reference-Cited by-同舟云学术

Nonlinear Control of a Quadrotor With Deviated Center of Gravity

Published:2016-09-09 Issue:1 Volume:139 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Xian Bin¹,Zhao Bo²,Zhang Yao²,Zhang Xu²

Affiliation:

1. Professor Mem. ASME School of Electrical Engineering and Automation, Tianjin University, Tianjin 30072, China e-mail:

2. School of Electrical Engineering and Automation, Tianjin University, Tianjin 30072, China

Abstract

In this paper, a new adaptive tracking controller is developed for a quadrotor unmanned aerial vehicle (UAV) via immersion and invariance (I&I) approach. The controller is able to compensate parametric uncertainties such as the unmeasurable effects of the deviated center-of-gravity (CoG), as well as the aerodynamic coefficients. The globally asymptotic tracking of the desired attitude trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results performed on a quadrotor attitude control testbed are given to show the good control performance of the proposed scheme.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4034366/6123019/ds_139_01_011003.pdf

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