Robust tracking control of a quadrotor helicopter without velocity measurement

Stevanović, Stojan and Kasać, Josip and Stepanić, Josip (2012) Robust tracking control of a quadrotor helicopter without velocity measurement. = Robust tracking control of a quadrotor helicopter without velocity measurement. In: 23rd International DAAAM Symposium on Intelligent Manufacturing and Automation - Focus on Sustainability, 21-28.10.2012., Zadar, Hrvatska.

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Official URL: https://www.bib.irb.hr/597947

Abstract

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

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): quadrotor helicopter, tracking control, robust control, output 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 (13.12.2018.)
Citations SCOPUS: 15 (13.12.2018.)
Date Deposited: 07 Jul 2016 08:50
Last Modified: 13 Dec 2018 14:56
URI: http://repozitorij.fsb.hr/id/eprint/6225

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