Journal ArticleDOI
A nonlinear quadrotor trajectory tracking controller with disturbance rejection
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TLDR
In this paper, a nonlinear adaptive state feedback controller is proposed to asymptotically stabilize the closed-loop system in the presence of force disturbances, where the constant force disturbance is estimated through the use of a sufficiently smooth projector operator.About:
This article is published in Control Engineering Practice.The article was published on 2014-05-01. It has received 130 citations till now. The article focuses on the topics: Control theory & Nonlinear control.read more
Citations
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Journal ArticleDOI
Aerial Manipulation: A Literature Review
TL;DR: This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view.
Journal ArticleDOI
Sense and avoid technologies with applications to unmanned aircraft systems: Review and prospects
Xiang Yu,Youmin Zhang +1 more
TL;DR: An overview on the recent progress in S &A technologies in the sequence of fundamental functions/components of S&A in sensing techniques, decision making, path planning, and path following is presented.
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A novel nonlinear resilient control for a quadrotor UAV via backstepping control and nonlinear disturbance observer
TL;DR: In this article, a novel nonlinear resilient trajectory control for a quadrotor unmanned aerial vehicle (UAV) using backstepping control and nonlinear disturbance observer is proposed.
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Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer
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Robust Three-Loop Trajectory Tracking Control for Quadrotors With Multiple Uncertainties
TL;DR: A robust decentralized and linear time-invariant controller is proposed for quadrotors to achieve trajectory tracking and it is proven that the tracking errors can converge into a priori set neighborhood of the origin ultimately.
References
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Book
Nonlinear and adaptive control design
TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
Proceedings ArticleDOI
PID vs LQ control techniques applied to an indoor micro quadrotor
TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Journal ArticleDOI
A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
TL;DR: In this article, it was shown that a continuous dynamical system on a state space that has the structure of a vector bundle on a compact manifold possesses no globally asymptotically stable equilibrium.
Proceedings ArticleDOI
Output tracking control design of a helicopter model based on approximate linearization
T.J. Koo,S. Shankar Sastry +1 more
TL;DR: In this paper, the authors derived a diffeomorphism showing that an approximation of the system is differentially flat, thus state trajectory and nominal inputs can be generated from a given output trajectory.
Journal ArticleDOI
A Practical Visual Servo Control for an Unmanned Aerial Vehicle
TL;DR: Experimental results on an experimental UAV known as an X4-flyer made by the French Atomic Energy Commission (CEA) demonstrate the robustness and performances of the proposed control strategy.