控制理论(社会学)
欠驱动
弹道
职位(财务)
控制器(灌溉)
参数统计
扩展卡尔曼滤波器
推力
有界函数
残余物
卡尔曼滤波器
滤波器(信号处理)
跟踪(教育)
噪音(视频)
非线性系统
跟踪误差
计算机科学
工程类
数学
控制(管理)
物理
人工智能
算法
航空航天工程
经济
天文
财务
统计
计算机视觉
农学
量子力学
心理学
生物
数学分析
图像(数学)
教育学
作者
Joel Reis,Gan Yu,Carlos Silvestre
出处
期刊:Automatica
[Elsevier]
日期:2023-09-01
卷期号:155: 111148-111148
被引量:3
标识
DOI:10.1016/j.automatica.2023.111148
摘要
In this paper we solve the problem of trajectory tracking control of an underactuated autonomous aerial vehicle in the presence of unknown time-varying dynamics. We begin our approach with the design of a Kalman filter for the linear motion subsystem under non-vanishing perturbations. The filter attenuates the noise of position measurements, and simultaneously estimates the linear velocity of the vehicle as well as an unknown term of lumped dynamics, which includes model parametric uncertainty and exogenous perturbations. The output and residual of the filter are then fed to a nonlinear controller whose thrust actuation is bounded with respect to the position and velocity errors. The total error stemming from the closed-loop system is shown to be uniformly ultimately bounded. Experimental results and comparison data are presented to showcase the performance of our strategy in different real-world applications using a quadrotor vehicle.
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