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浏览/检索结果: 共4条，第1-4条 帮助 限定条件 专题：长春光学精密机械与物理研究所    第一署名单位    第一作者单位    通讯作者单位     已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE) 会议论文 2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012, Dalian, China Gong X.; Bai Y.; Peng C.; Zhao C.; Tian Y. 收藏  |  浏览/下载：27/0  |  提交时间：2013/03/25 A quad-rotor unmanned aerial vehicle is an under-actuated  strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance  while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally  the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor  which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.   Trajectory tacking control of a quad-rotor based on active disturbance rejection control (EI CONFERENCE) 会议论文 2012 IEEE International Conference on Automation and Logistics, ICAL 2012, August 15, 2012 - August 17, 2012, Zhengzhou, China Gong X.; Tian Y.; Bai Y.; Zhao C. 收藏  |  浏览/下载：23/0  |  提交时间：2013/03/25 The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty  the external disturbance and the coupling factor are considered  an active disturbance rejection control (ADRC) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article  based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article  the ADRC controller is expressed in the discrete form. And finally  the simulation results show that the proposed control algorithm achieves a favourable tracking performance. 2012 IEEE.   Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE) 会议论文 2011 International Conference on Materials, Mechatronics and Automation, ICMMA 2011, January 15, 2011 - January 16, 2011, Melbourne, VIC, Australia Hou Z. C.; Gong X.; Bai Y.; Tian Y. T.; Sun Q. 收藏  |  浏览/下载：19/0  |  提交时间：2013/03/25 This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration  the autonomous trajectory tracking is realized. The model uncertainty  external disturbance and the senor noise are also taken into consideration. Then the H controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map  control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.   Stability control of quad-rotor based on explicit model following with inverse model feedforward method (EI CONFERENCE) 会议论文 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, August 7, 2011 - August 10, 2011, Beijing, China Bai Y.; Gong X.; Hou Z.; Tian Y. 收藏  |  浏览/下载：14/0  |  提交时间：2013/03/25 The quad-rotor is expected to carry out many different tasks. It is hoped that the quad-rotor can have different characteristics according to the different mission requirements. For this reason  a flight stability augmentation control system based on explicit model following with inverse model feedforward control method is proposed in this paper. This control system is composed of an explicit model  an inverse model and a feedback controller module. In order to calculate an inverse model of the coupled multivariable aircraft system  a feedback linearization loop is also applied to this control system. At last  simulations are performed to show the effectiveness of the designed stability augmentation control system in the presence of external disturbance and model uncertainty. The influence of explicit model to the characteristics of quad-rotor is also indicated in a contrast simulation result. 2011 IEEE.