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Quaternion-based robust trajectory tracking control for uncertain quadrotors

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Abstract

This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A nonlinear robust controller is proposed, which consists of an attitude controller to stabilize the rotational motions and a position controller to control translational motions. The quadrotor dynamics involves uncertainties such as parameter uncertainties, nonlinearities, and external disturbances and their effects on closed-loop control system can be guaranteed to be restrained. Simulation results on the quadrotor demonstrate the effectiveness of the designed control approach.

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Authors and Affiliations

  1. School of Aeronautic Science and Engineering, Beihang University, Beijing, 100191, China

    Tianpeng He & Shu Li

  2. School of Astronautics, Beihang University, Beijing, 100191, China

    Hao Liu

Authors
  1. Tianpeng He
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  2. Hao Liu
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  3. Shu Li
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Correspondence to Hao Liu.

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He, T., Liu, H. & Li, S. Quaternion-based robust trajectory tracking control for uncertain quadrotors. Sci. China Inf. Sci. 59, 122902 (2016). https://doi.org/10.1007/s11432-016-0582-y

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  • DOI: https://doi.org/10.1007/s11432-016-0582-y

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