کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7153559 | 1462485 | 2018 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this work, a Revisited form of the so-called Model-Free Control (R-MFC) is derived. Herein, the MFC principle is employed to deal with the unknown part of a plant only (i.e., unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy. Using the proposed formulation, it is shown that we can significantly improve the performance of the control through the reshaping properties of the IDA-PBC technique. Moreover, the control robustness level is increased via a compensation of the time-varying disturbances and the unmodeled system dynamics. This on-line compensation capability is provided by the MFC principle. The problem is studied in the case of Multi-Input Multi-Output (MIMO) mechanical systems with an explicit application to a small Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) where a stability analysis is also provided. Numerical simulations have shown satisfactory results, in comparison with some other control strategies, where an in-depth discussion with respect to the control performance is highlighted by considering several scenarios and using several metrics.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 31, Issue 7, July 2018, Pages 1568-1578
Journal: Chinese Journal of Aeronautics - Volume 31, Issue 7, July 2018, Pages 1568-1578
نویسندگان
Yasser BOUZID, Houria SIGUERDIDJANE, Yasmina BESTAOUI,