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https://hdl.handle.net/2440/111718
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Type: | Journal article |
Title: | Reliable tracking control for under-actuated quadrotors with wind disturbances |
Author: | Xu, J. Shi, P. Lim, C. Cai, C. Zou, Y. |
Citation: | IEEE transactions on systems, man, and cybernetics. Systems, 2019; 49(10):2059-2070 |
Publisher: | IEEE |
Issue Date: | 2019 |
ISSN: | 2168-2216 2168-2232 |
Statement of Responsibility: | Jing Xu, Peng Shi, Cheng-Chew Lim, Chenxiao Cai, and Yun Zou |
Abstract: | This paper presents a reliable control strategy for quadrotors to achieve a satisfactory tracking performance and provide a stable yaw angle control in the presence of wind disturbances. Based on the prelinearizing transformation and singular perturbation techniques, a quadrotor flight system is decomposed into two interconnected subsystems in different time-scales: the angular rotations and the linear translations. For the fast subsystem running as the inner loop, finite frequency H∞ control is used to enhance robustness and provide adequate decoupling such that each translational dynamic is controlled independently. For the slow subsystem running as the outer loop, H∞ loop shaping control via proportion-integration-differentiation control is used to achieve a desired servo performance even in the presence of wind disturbance. Simulations are performed under different wind conditions to validate the effectiveness of the new control strategy. |
Keywords: | Dual-loop control structure; nonlinear systems; singular perturbations; tracking; unmanned aerial vehicles |
Rights: | © 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. |
DOI: | 10.1109/TSMC.2017.2782662 |
Grant ID: | http://purl.org/au-research/grants/arc/DP170102644 |
Published version: | http://dx.doi.org/10.1109/tsmc.2017.2782662 |
Appears in Collections: | Aurora harvest 8 Electrical and Electronic Engineering publications |
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