Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle
Summary: Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid ``differential expansion in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.
- Dynamic modeling and nonlinear tracking control of a novel modified quadrotor
- Multivariable super twisting based robust trajectory tracking control for small unmanned helicopter
- Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping
- The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory
- Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
- Adaptive tracking of nonlinear systems with non-symmetric dead-zone input
- Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems
- Finite-Time-Convergent Differentiator Based on Singular Perturbation Technique
- Fuzzy variable structure control for uncertain systems with disturbance
- scientific article; zbMATH DE number 3773010 (Why is no real title available?)
- Network-based feedback control for systems with mixed delays based on quantization and dropout compensation
- Robust sliding control of SEIR epidemic models
- Lane changing trajectory planning and tracking controller design for intelligent vehicle running on curved road
- Robust optimal attitude controller for MIMO uncertain hexarotor MAVs: disturbance observer-based
- Dynamic modeling and nonlinear tracking control of a novel modified quadrotor
- State estimation and sliding-mode fault-tolerant control of a class of nonlinear systems with actuator faults under the event-triggered mechanism
- Designing a sliding mode controller for a class of multi-controller COVID-19 disease model
This page was built for publication: Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q474480)
