Large-scale stabilization control of input-constrained quadrotor

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Large-scale stabilization control of input-constrained quadrotor
	Jiang J(姜军); Yang LY(杨丽英); Gu F(谷丰); He YQ(何玉庆); Han JD(韩建达)
刊名	International Journal of Advanced Robotic Systems
	2016
卷号	13 期号:5 页码:1-10
关键词	Quadrotor control input constraint large-scale stability control-Lyapunov function
ISSN号	1729-8806
通讯作者	何玉庆
产权排序	1
中文摘要	The quadrotor has been the most popular aircraft in the last decade due to its excellent dynamics and continues to attract ever-increasing research interest. Delivering a quadrotor from a large fixed-wing aircraft is a promising application of quadrotors. In such an application, the quadrotor needs to switch from a highly unstable status, featured as large initial states, to a safe and stable flight status. This is the so-called large-scale stability control problem. In such an extreme scenario, the quadrotor is at risk of actuator saturation. This can cause the controller to update incorrectly and lead the quadrotor to spiral and crash. In this article, to safely control the quadrotor in such scenarios, the control input constraint is analyzed. The key states of a quadrotor dynamic model are selected, and a two-dimensional dynamic model is extracted based on a symmetrical body configuration. A generalized point-wise min-norm nonlinear control method is proposed based on the Lyapunov function, and large-scale stability control is hence achieved. An enhanced point-wise, min-norm control is further provided to improve the attitude control performance, with altitude performance degenerating slightly. Simulation results showed that the proposed control methods can stabilize the input-constrained quadrotor and the enhanced method can improve the performance of the quadrotor in critical states.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000394806300005
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19371]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang J,Yang LY,Gu F,et al. Large-scale stabilization control of input-constrained quadrotor[J]. International Journal of Advanced Robotic Systems,2016,13(5):1-10.
APA	Jiang J,Yang LY,Gu F,He YQ,&Han JD.(2016).Large-scale stabilization control of input-constrained quadrotor.International Journal of Advanced Robotic Systems,13(5),1-10.
MLA	Jiang J,et al."Large-scale stabilization control of input-constrained quadrotor".International Journal of Advanced Robotic Systems 13.5(2016):1-10.