Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/102406
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dc.contributor.authorXu, J.en
dc.contributor.authorShi, P.en
dc.contributor.authorLim, C.C.en
dc.contributor.authorCai, C.en
dc.contributor.authorZou, Y.en
dc.date.issued2016en
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2016; 21(5):2490-2498en
dc.identifier.issn1083-4435en
dc.identifier.issn1941-014Xen
dc.identifier.urihttp://hdl.handle.net/2440/102406-
dc.description.abstractComplex nonlinearity and strong coupling in the pitch-yaw-roll of a rotorcraft make it difficult for the attitude control of unmanned aerial vehicles, especially in the presence of wind disturbances and plant uncertainties. To confront these problems, this paper presents a control scheme of two sequential steps, structural parameter determination and robust controller design, in order to achieve the desired attitude regulation performance and disturbance attenuation capability. For the structural parameter design, key structural parameters are specified such that the open-loop transfer functions, from torque inputs to angular velocities, exhibit positive-real properties in particular frequency ranges to incorporate robustness into the controller design. Then, a dual-loop structured controller is designed using dynamic inversion approaches and singular perturbation techniques. The controlled inner loop provides adequate decoupling such that the outer loop may control each Euler angle independently, and proportional-derivative control is used in each outer loop to achieve a desired attitude tracking performance. The effectiveness of the control scheme is verified via an attitude tracking example.en
dc.description.statementofresponsibilityJing Xu, Peng Shi, Cheng-Chew Lim, Senior Member, Chenxiao Cai and Yun Zouen
dc.language.isoenen
dc.publisherIEEEen
dc.rights© 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.en
dc.source.urihttp://ieeexplore.ieee.org/document/7473912/en
dc.subjectFinite frequency; nonlinear systems; robust control; singular perturbations; unmanned aerial vehicles (UAVs)en
dc.titleIntegrated structural parameter design and robust control for attitude tracking maneuversen
dc.typeJournal articleen
dc.identifier.rmid0030049625en
dc.identifier.doi10.1109/TMECH.2016.2570820en
dc.relation.granthttp://purl.org/au-research/grants/arc/DP140102180en
dc.relation.granthttp://purl.org/au-research/grants/arc/LP140100471en
dc.identifier.pubid250402-
pubs.library.collectionElectrical and Electronic Engineering publicationsen
pubs.library.teamDS11en
pubs.verification-statusVerifieden
pubs.publication-statusPublisheden
dc.identifier.orcidShi, P. [0000-0001-8218-586X]en
dc.identifier.orcidLim, C.C. [0000-0002-2463-9760]en
Appears in Collections:Electrical and Electronic Engineering publications

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