TY - GEN
T1 - Robust tracking control for a quadrotor UAV via DOBC approach
AU - Cheng, Yu
AU - Jiang, Lei
AU - Li, Tao
AU - Guo, Lei
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/6
Y1 - 2018/7/6
N2 - The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞ control. Finally, the simulation results show the effectiveness of the proposed method.
AB - The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞ control. Finally, the simulation results show the effectiveness of the proposed method.
KW - Disturbance observer
KW - Interval matrix
KW - Quadrotor UAV
KW - Robust H control
KW - Trajectory tracking
UR - https://www.scopus.com/pages/publications/85050878456
U2 - 10.1109/CCDC.2018.8407194
DO - 10.1109/CCDC.2018.8407194
M3 - 会议稿件
AN - SCOPUS:85050878456
T3 - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
SP - 559
EP - 563
BT - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th Chinese Control and Decision Conference, CCDC 2018
Y2 - 9 June 2018 through 11 June 2018
ER -