کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5000458 | 1460688 | 2017 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust attitude control for quadrotors with input time delays
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Robust attitude control for quadrotors with input time delays Robust attitude control for quadrotors with input time delays](/preview/png/5000458.png)
چکیده انگلیسی
Robust attitude controller design problem is investigated for uncertain quadrotors with input delays. The vehicle model can be described as a multiple-input multiple-output nonlinear system subject to parametric uncertainties, external disturbances, and input time delays. A robust controller is proposed consisting of a nominal controller and a robust signal-based compensator. It is shown that the robust stability and the robust tracking property can be achieved. An important feature of the proposed control method is that a systematic way can be given to tune the controller parameters. Experimental results are given to demonstrate the effectiveness of the designed control system.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 58, January 2017, Pages 142-149
Journal: Control Engineering Practice - Volume 58, January 2017, Pages 142-149
نویسندگان
Hao Liu, Danjun Li, Zongyu Zuo, Yisheng Zhong,