Non‐linear adaptive tracking control for quadrotor aerial robots under uncertain dynamics
نویسندگان
چکیده
منابع مشابه
Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملtrajectory tracking of under-actuated nonlinear dynamic robots: adaptive fuzzy hierarchical terminal sliding-mode control
in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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To realize decentralized robust tracking control for robots with uncertain parameters, a new design method is proposed. A robust tracking controller designed by this method consists of two parts: a feedforward controller and a feedback robust controller. A feedforward control is first applied and error dynamics are introduced. For each joint error subsystem a robust controller is designed in tw...
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ژورنال
عنوان ژورنال: IET Control Theory & Applications
سال: 2021
ISSN: 1751-8644,1751-8652
DOI: 10.1049/cth2.12112