Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/111718
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dc.contributor.author | Xu, J. | - |
dc.contributor.author | Shi, P. | - |
dc.contributor.author | Lim, C. | - |
dc.contributor.author | Cai, C. | - |
dc.contributor.author | Zou, Y. | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE transactions on systems, man, and cybernetics. Systems, 2019; 49(10):2059-2070 | - |
dc.identifier.issn | 2168-2216 | - |
dc.identifier.issn | 2168-2232 | - |
dc.identifier.uri | http://hdl.handle.net/2440/111718 | - |
dc.description.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. | - |
dc.description.statementofresponsibility | Jing Xu, Peng Shi, Cheng-Chew Lim, Chenxiao Cai, and Yun Zou | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.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. | - |
dc.source.uri | http://dx.doi.org/10.1109/tsmc.2017.2782662 | - |
dc.subject | Dual-loop control structure; nonlinear systems; singular perturbations; tracking; unmanned aerial vehicles | - |
dc.title | Reliable tracking control for under-actuated quadrotors with wind disturbances | - |
dc.type | Journal article | - |
dc.identifier.doi | 10.1109/TSMC.2017.2782662 | - |
dc.relation.grant | http://purl.org/au-research/grants/arc/DP170102644 | - |
pubs.publication-status | Published | - |
dc.identifier.orcid | Shi, P. [0000-0001-8218-586X] | - |
dc.identifier.orcid | Lim, C. [0000-0002-2463-9760] | - |
Appears in Collections: | Aurora harvest 8 Electrical and Electronic Engineering publications |
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