@inproceedings{b12a9255af114cf381b8b4d3e8c3b50d,
title = "Quadrotor trajectory tracking based on internal model control/ZN-PD control",
abstract = "To achieve stable tracking of a flight trajectory, a controller with simple structure and strong robustness is designed control a quadrotor in this paper. The controller possesses inner and outer loops structure. The inner loop adopts a ZN-PD controller which Proportional Derivative (PD) controller parameters are tuned by Ziegler-Nichols method; the outer loop adopts Internal Model Control (IMC) method. In this method, the inner loop controller solves the problem of the quadrotor PD controller blind adjusting parameters; the outer loop controller guarantee strong robustness to parameter uncertainty and rejection to disturbance. Compared with the other two methods GA-PD/ZN-PD (outer loop controller is a PD controller with parameters tuned by a genetic algorithm, inner loop controller is ZN-PD) and ZN-PD/ZN-PD (outer and inner loop controllers are both ZN-PD), the method proposed in this paper has stronger disturbance rejection ability and robustness to parameter uncertainty.",
keywords = "Integral of square error, Internal Model Control, Quadrotor, Time delay, Trajectory tracking",
author = "Zefang He and Long Zhao",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7553208",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "945--950",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}