Robust Trajectory Tracking Control of Uncertain Quadrotors without Linear Velocity Measurements

摘要：

　　In this paper,robust trajectory tracking control problem for quadrotors is investigated.The control gain is to improve the tracking performance of the closed-loop control system under the effects of multiple uncertainties.The vertical,lateral,longitudinal,and yaw motions of the quadrotor are required to track desired trajectories simultaneously.A position controller is designed to achieve the trajectory tracking and produce the desired references for the pitch and roll angles.An attitude controller is designed to stabilize the three Euler angles and an observer is applied to estimate the linear velocities which cannot be measured directly.The robust tracking performance of the overall closed-loop control system can be guaranteed.Simulation results are presented to demonstrate the effectiveness of the proposed closed-loop control system.

关键词： Quadrotors Robust Control Trajectory Tracking Uncertainties

作者: LIU Hao ZHAO Jiangtao ZHONG Yisheng

作者单位: School of Astronautics,Beihang Univeristy,Beijing,100191,P.R.China;Department of Automation,TNList,T Beijing Institute of Control Engineering,Beijing,100190,P.R.China Department of Automation,TNList,Tsinghua University,Beijing,100084,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 4169-4174

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）