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Type: Journal article
Title: Reliable tracking control for under-actuated quadrotors with wind disturbances
Author: Xu, J.
Shi, P.
Lim, C.
Cai, C.
Zou, Y.
Citation: IEEE Transactions on Systems Man and Cybernetics: Systems, 2018; OnlinePubl:1-12
Publisher: IEEE
Issue Date: 2018
ISSN: 2168-2216
Statement of
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 for more information.
RMID: 0030081098
DOI: 10.1109/TSMC.2017.2782662
Grant ID:
Appears in Collections:Electrical and Electronic Engineering publications

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