Pregled bibliografske jedinice broj: 597947
Robust tracking control of a quadrotor helicopter without velocity measurement
Robust tracking control of a quadrotor helicopter without velocity measurement // Proccedings of the 23rd International DAAAM Symposium / Katalinić, Branko (ur.).
Beč: DAAAM International Vienna, 2012. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 597947 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Robust tracking control of a quadrotor helicopter without velocity measurement
Autori
Stevanović, Stojan ; Kasać, Josip ; Stepanić, Josip
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proccedings of the 23rd International DAAAM Symposium
/ Katalinić, Branko - Beč : DAAAM International Vienna, 2012
Skup
23rd DAAAM International Symposium
Mjesto i datum
Zadar, Hrvatska, 21.10.2012. - 28.10.2012
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
quadrotor helicopter; tracking control; robust control; output control
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
POVEZANOST RADA
Projekti:
120-1201842-3048 - Umjetna inteligencija u upravljanju složenim nelinearnim dinamičkim sustavima (Kasać, Josip) ( CroRIS)
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb
