Robust tracking control of a quadrotor helicopter without velocity measurement (CROSBI ID 590672)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Stevanović, Stojan ; Kasać, Josip ; Stepanić, Josip
engleski
Robust tracking control of a quadrotor helicopter without velocity measurement
In this paper, a robust output tracking controller for quadrotor helicopter is proposed. The proposed controller requires measurement of only four state variables: positions in inertial coordinate frame and yaw angle. Also, the controller is robust to unmodeled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of quadrotor tracking under wind influence which is modeled as unmatched external force disturbances in horizontal plane.
quadrotor helicopter; tracking control; robust control; output control
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Podaci o prilogu
2012.
objavljeno
Podaci o matičnoj publikaciji
Proccedings of the 23rd International DAAAM Symposium
Katalinić, Branko
Beč: DAAAM International Vienna
Podaci o skupu
23rd DAAAM International Symposium
predavanje
21.10.2012-28.10.2012
Zadar, Hrvatska