The Trajectory Tracking Problem for Quadrotor System

摘要：

　　This paper presents the design of a nonlinear controller based on integral backstepping control technique combined with the super twisting control algorithm for trajectory tracking of a quadrotor helicopter.A simple version of dynamical system based on Newton-Euler formalism is used.The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances.

关键词： quadrotor system trajectory tracking integral backstepping supertwist algorithm

作者: Na Zhang Qing-He Wu

作者单位: Automation Department, Beijing Institute of Technology, Beijing, China

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 221-226

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）