Disturbance Observer-Based Control for Trajectory Tracking of a Quadrotor
نویسندگان
چکیده
منابع مشابه
Quadrotor Helicopter Trajectory Tracking Control
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...
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In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...
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ژورنال
عنوان ژورنال: Electronics
سال: 2020
ISSN: 2079-9292
DOI: 10.3390/electronics9101624