控制理论(社会学)
稳健性(进化)
弹道
自适应控制
计算机科学
姿态控制
鲁棒控制
控制器(灌溉)
职位(财务)
控制工程
跟踪(教育)
位置跟踪
工程类
控制系统
控制(管理)
人工智能
执行机构
物理
教育学
化学
生物
心理学
生物化学
农学
财务
天文
电气工程
经济
基因
作者
Yixuan Tian,Chen Li,Wentao Yu,Jing-Jing Xiong
标识
DOI:10.1109/icarce55724.2022.10046429
摘要
The adaptive trajectory tracking control issue of a small quadrotor unmanned aerial vehicle (UAV) is preliminarily concerned and studied in this paper. The mathematic model of quadrotor UAV is firstly expressed in a simple form such that the model uncertainties and unknown external disturbances can be conveniently taken into account. Then, an adaptive sliding mode controller is developed for estimating model uncertainties and unknown external disturbances such that the robust and adaptive controller is obtained to enhance the robustness of the flight controller. It is found that the trajectories will asymptotically track the corresponding desired position and attitude values even under uncertainties and unknown disturbances. Finally, simulations based on the developed control scheme are conducted to demonstrate the effectiveness while faced with the uncertainties and unknown disturbances.
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