Quaternion-based robust trajectory tracking control for uncertain quadrotors

作     者：Tianpeng HE Hao LIU Shu LI 

作者机构：School of Aeronautic Science and Engineering Beihang University School of Astronautics Beihang University 

基　　金：supported by National High-Tech R&D Program of China (863 Program) (Grant No. 2012AA112201) National Natural Science Foundation of China (Grant No. 61503012) 

出 版 物：《Science China Earth Sciences》 (中国科学（地球科学英文版）)

年 卷 期：2016年第59卷第12期

页      码：216-228页

摘      要：This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A nonlinear robust controller is proposed, which consists of an attitude controller to stabilize the rotational motions and a position controller to control translational motions. The quadrotor dynamics involves uncertainties such as parameter uncertainties, nonlinearities, and external disturbances and their effects on closed-loop control system can be guaranteed to be restrained. Simulation results on the quadrotor demonstrate the effectiveness of the designed control approach.

主 题 词：quadrotor quaternion trajectory tracking robust control 

学科分类：080802[080802] 0808[工学-自动化类] 080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

核心收录：

D　O　I：10.1007/s11432-016-0582-y

馆 藏 号：203208815...