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Nonlinear trajectory tracking control of a quadrotor vehicle
Cunha R.1,2; Cabecinhas D.1; Silvestre C.1,2
2014-03-26
Conference NameAmerican Control Conference
Source Publication2009 European Control Conference, ECC 2009
Pages2763-2768
Conference DateDEC 04-06, 2014
Conference PlaceAmerican Control Conference
Abstract

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller.

URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000346492601019
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Cited Times [WOS]:14   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Tecn Lisboa, Dept Elect Engn & Comp Sci, P-1049001 Lisbon, Portugal
2.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Cunha R.,Cabecinhas D.,Silvestre C.. Nonlinear trajectory tracking control of a quadrotor vehicle[C],2014:2763-2768.
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