Immersion and invariance modular nonlinear tracking control for an underactuated quadrotor

被引：2
|
作者：
Li X.-J. [1 ,2 ]
Wu A.-G. [1 ]
Zhang Z.-L. [3 ]
机构：
[1] School of Electrical and Information Engineering, Tianjin University, Tianjin
[2] School of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems, Tianjin
[3] Tianjin Long-Dream Science & Technology Co. LTD, Tianjin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Asymptotic tracking; Immersion and invariance; Nonlinear control; Quadrotor; Underactuated system;
D O I：
10.7641/CTA.2018.70558
中图分类号：
学科分类号：
摘要：
An immersion and invariance-based (I&I) nonlinear tracking control, is addressed to achieve asymptotic tracking for 3-D position and yaw motion for an underactuated quadrotor. In the underlying control scheme, an inner/outerloop construction is designed to handle the underactuated property. The I & I technology is constructed for stable tracking. Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical simulations on MATLAB/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：73 / 78
页数：5
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