کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4974615 | 1365541 | 2016 | 29 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Three-dimensional distributed tracking control for multiple quadrotor helicopters
ترجمه فارسی عنوان
سه بعدی کنترل ردیابی برای چند هلیکوپتر چهارگانه
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
This paper deals with the cooperative tracking control of a team of underactuated quadrotors in three-dimensional space when the reference signal is not available to all the vehicles. Using the Backstepping and filtering design technique and results from graph theory, a distributed cooperative controller consisting of two interconnected blocks is proposed. The first block, which is based on local distributed controllers, guarantees that the centroid of the three-dimensional formation asymptotically follows a desired path corresponding to the desired formation trajectory. The second block ensures that the attitude dynamics of the quadrotor will converge asymptotically to their actual values, which are constrained within a predefined set, such that singularities are avoided in the quadrotor׳s dynamics. Due to the coupling property between the translational and rotational dynamics, the equilibrium point of the complete closed-loop system is shown to be asymptotically stable. Numerical simulations are illustrated to show that the theoretical conclusions are effective.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 353, Issue 10, July 2016, Pages 2344-2372
Journal: Journal of the Franklin Institute - Volume 353, Issue 10, July 2016, Pages 2344-2372
نویسندگان
J. Ghommam, Luis F. Luque-Vega, B. Castillo-Toledo, M. Saad,