Robust output tracking control of a quadrotor in the presence of external disturbances

Kasać, Josip and Stevanović, Stojan and Žilić, Tihomir and Stepanić, Josip (2013) Robust output tracking control of a quadrotor in the presence of external disturbances. = Robust output tracking control of a quadrotor in the presence of external disturbances. Transactions of FAMENA, 37 (4). pp. 29-42. ISSN 1333-1124. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2013). Točan broj autora: 4.

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Abstract

In this paper, a robust output tracking controller for the quadrotor helicopter is proposed. The proposed controller requires the measurement of only four state variables: positions in the inertial coordinate frame and the yaw angle. Also, the controller is robust with respect to the unmodelled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of a quadrotor tracking under the influence of wind which is modelled as unmatched external force disturbances in the horizontal plane.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): output control; quadrotor; robust control; tracking control
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 800 Department of Quality > 820 Chair of Non-Destructive Testing
900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 9 (11.09.2018.)
Quartiles: Q4 (2013)
Citations SCOPUS: 5 (11.09.2018.)
Date Deposited: 05 May 2015 12:39
Last Modified: 14 Sep 2018 10:30
URI: http://repozitorij.fsb.hr/id/eprint/4084

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