Please use this identifier to cite or link to this item:
|Scopus||Web of Science®||Altmetric|
|Title:||Reliable tracking control for under-actuated quadrotors with wind disturbances|
|Citation:||IEEE Transactions on Systems Man and Cybernetics: Systems, 2018; OnlinePubl:1-12|
|Jing Xu, Peng Shi, Cheng-Chew Lim, Chenxiao Cai, and Yun Zou|
|Abstract:||This paper presents a reliable control strategy for quadrotors to achieve a satisfactory tracking performance and provide a stable yaw angle control in the presence of wind disturbances. Based on the prelinearizing transformation and singular perturbation techniques, a quadrotor flight system is decomposed into two interconnected subsystems in different time-scales: the angular rotations and the linear translations. For the fast subsystem running as the inner loop, finite frequency H∞ control is used to enhance robustness and provide adequate decoupling such that each translational dynamic is controlled independently. For the slow subsystem running as the outer loop, H∞ loop shaping control via proportion-integration-differentiation control is used to achieve a desired servo performance even in the presence of wind disturbance. Simulations are performed under different wind conditions to validate the effectiveness of the new control strategy.|
|Keywords:||Dual-loop control structure; nonlinear systems; singular perturbations; tracking; unmanned aerial vehicles|
|Rights:||© 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.|
|Appears in Collections:||Electrical and Electronic Engineering publications|
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.