Robust Nonlinear Control for Path Tracking of a Quad‐Rotor Helicopter
This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The main objective is to design controllers that provide certain required performances during the quadrotor flight, such as null tracking error and robustness in the pr...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Universidad de Sevilla (US) |
| Repositorio: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/103664 |
| Acceso en línea: | https://hdl.handle.net/11441/103664 https://doi.org/10.1002/asjc.823 |
| Access Level: | acceso abierto |
| Palabra clave: | Robust Nonlinear Control Quad‐Rotor Helicopter Path Tracking |
| Sumario: | This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The main objective is to design controllers that provide certain required performances during the quadrotor flight, such as null tracking error and robustness in the presence of sustained external disturbances affecting the six degrees of freedom, parametric uncertainties, and unmodeled dynamics. The control structure is performed through a nonlinear urn:x-wiley:15618625:media:asjc823:asjc823-math-5001 controller to stabilize the rotational movements and a control law based on the backstepping approach with integral action to track the reference trajectory. Simulation results are carried out to corroborate the effectiveness and the robustness of the proposed strategy. |
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