Journal Article10.1016/J.ISATRA.2016.08.001
A robust approach for trajectory tracking control of a quadrotor with experimental validation.
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TL;DR: In this article, a new control scheme for motion control of quadrotors is presented, which makes use of simple estimations of vehicle parameters and is developed under properties of the vehicle model.
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Abstract: In this paper, a new control scheme for motion control of quadrotors is presented. The proposed model based controller makes use of simple estimations of vehicle parameters. Besides, the controller is developed under properties of the vehicle model. A rigorous analysis is developed to prove that the closed-loop system trajectories are uniformly ultimately bounded. The validity of the proposed control scheme is tested by numerical simulations and experimental results. This validation shows that the proposed controller guarantees that the quadrotor performs tracking of a desired pose (position and orientation) trajectory with good accuracy. The new scheme has been compared with respect to other robust controllers. The results indicate better tracking accuracy for the new scheme.
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Citations
A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight
TL;DR: In this paper , a leader-follower methodology is implemented where the leader vehicle has some predefined trajectory, and the follower vehicles are controlled in order to track the leader while keeping a constant displacement.
Rechazo Activo de Perturbaciones en un Cuadrotor Usando Modos Deslizantes de Orden Superior
TL;DR: In this paper , Lyapunov et al. present a control robusto continuo for seguimiento de trayectoria in a cuadrotor with an observador by modos deslizantes de orden superior (OMDOS).
Adaptive Second-Order Strictly Negative Imaginary Controllers Based on the Interval Type-2 Fuzzy Self-Tuning Systems for a Hovering Quadrotor With Uncertainties
TL;DR: A new adaptive control technique based on the second-order strictly negative imaginary (SNI) controller, coupled with the interval type-2 fuzzy self-tuning mechanism is introduced, to compensate the dynamic variations in the quadrotor's CoG when the mass of the payload is constantly varied.
Adaptive-based linear active disturbance rejection attitude control for quadrotor with external disturbances:
Zhaoji Wang,Tong Zhao +1 more
TL;DR: This paper proposes a linear active disturbance rejection control scheme for a quadrotor unmanned aerial vehicle (UAV) with external disturbances based on adaptive control to address the attitude control problem, and the simulation results verify the effectiveness of the proposed control scheme under external disturbances.
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