کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6954658 | 1451831 | 2018 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator](/preview/png/6954658.png)
چکیده انگلیسی
In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of “explosion of complexity” in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 104, 1 May 2018, Pages 631-647
Journal: Mechanical Systems and Signal Processing - Volume 104, 1 May 2018, Pages 631-647
نویسندگان
Xingling Shao, Jun Liu, Honglun Wang,