Trajectory tracking control of a quadrotor unmanned mini-helicopter

Zongyu Zuo; Ming Zhu; Zewei Zheng

doi:10.2514/6.2010-948

Trajectory tracking control of a quadrotor unmanned mini-helicopter

Zongyu Zuo^*
, Ming Zhu
, Zewei Zheng

^*Corresponding author for this work

National Key Laboratory of Science and Technology on Holistic Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

Abstract

In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the control design. Finally, we discuss the two design methods and arrive at a conclusion via comparison.

Original language	English
Title of host publication	48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition
Publisher	American Institute of Aeronautics and Astronautics Inc.
ISBN (Print)	9781600867392
DOIs	https://doi.org/10.2514/6.2010-948
State	Published - 2010

Publication series

Name	48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition

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10.2514/6.2010-948

Cite this

Zuo, Z., Zhu, M., & Zheng, Z. (2010). Trajectory tracking control of a quadrotor unmanned mini-helicopter. In 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition Article 2010-0948 (48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2010-948

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title = "Trajectory tracking control of a quadrotor unmanned mini-helicopter",

abstract = "In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the control design. Finally, we discuss the two design methods and arrive at a conclusion via comparison.",

author = "Zongyu Zuo and Ming Zhu and Zewei Zheng",

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doi = "10.2514/6.2010-948",

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Zuo, Z , Zhu, M & Zheng, Z 2010, Trajectory tracking control of a quadrotor unmanned mini-helicopter. in 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition., 2010-0948, 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, American Institute of Aeronautics and Astronautics Inc. https://doi.org/10.2514/6.2010-948

Trajectory tracking control of a quadrotor unmanned mini-helicopter. / Zuo, Zongyu ; Zhu, Ming ; Zheng, Zewei.
48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics Inc., 2010. 2010-0948 (48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2010

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N2 - In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the control design. Finally, we discuss the two design methods and arrive at a conclusion via comparison.

AB - In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the control design. Finally, we discuss the two design methods and arrive at a conclusion via comparison.

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Zuo Z , Zhu M , Zheng Z. Trajectory tracking control of a quadrotor unmanned mini-helicopter. In 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics Inc. 2010. 2010-0948. (48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition). doi: 10.2514/6.2010-948

Trajectory tracking control of a quadrotor unmanned mini-helicopter

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