Pregled bibliografske jedinice broj: 662519
Robust Output Tracking Control of a Quadrotor in the Presence of External Disturbances
Robust Output Tracking Control of a Quadrotor in the Presence of External Disturbances // Transactions of FAMENA, 37 (2013), 4; 29-42 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 662519 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Robust Output Tracking Control of a Quadrotor in the Presence of External Disturbances
Autori
Kasać, Josip ; Stevanović, Stojan ; Žilić, Tihomir ; Stepanić, Josip
Izvornik
Transactions of FAMENA (1333-1124) 37
(2013), 4;
29-42
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Quadrotor; Tracking Control; Robust Control; Output Control
Sažetak
In this paper, a robust output tracking controller for the quadrotor helicopter is proposed. The proposed controller requires the measurement of only four state variables: positions in the inertial coordinate frame and the yaw angle. Also, the controller is robust with respect to the unmodelled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of a quadrotor tracking under the influence of wind which is modelled as unmatched external force disturbances in the horizontal plane.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
POVEZANOST RADA
Projekti:
120-1201842-1839 - Optimalno upravljanje energijom u fluidnoj tehnici i elektromehaničkim sustavima (Šitum, Željko, MZOS ) ( CroRIS)
120-1201842-3048 - Umjetna inteligencija u upravljanju složenim nelinearnim dinamičkim sustavima (Kasać, Josip) ( CroRIS)
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus
Uključenost u ostale bibliografske baze podataka::
- Geobase
- Scopus
