The Trajectory Tracking Problem for Quadrotor System

机译：四旋翼系统的轨迹跟踪问题

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This paper presents the design of a nonlinear controller based on integral backstepping control technique combined with the super twisting control algorithm for trajectory tracking of a quadrotor helicopter.A simple version of dynamical system based on Newton-Euler formalism is used.The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances.

机译：本文提出了一种基于积分反步控制技术与超扭曲控制算法相结合的非线性控制器的四旋翼直升机轨迹跟踪的非线性控制器的设计方法，并使用了基于牛顿-欧拉形式主义的动力学系统的简单版本。在考虑外部干扰的模拟研究中对建议的控制器进行了测试。

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来源
《International conference on mechatronics technology》|2012年|221-226|共6页
会议地点 Tianjin(CN)
作者
Na Zhang; Qing-He Wu;
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作者单位

Automation Department, Beijing Institute of Technology, Beijing, China;

Automation Department, Beijing Institute of Technology, Beijing, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
quadrotor system; trajectory tracking; integral backstepping; supertwist algorithm;

机译：四旋翼系统轨迹跟踪整体反推超扭曲算法;

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1. Adaptive trajectory tracking controller for quadrotor systems subject to parametric uncertainties [J] . Zou Yao, Zhu Bing Journal of the Franklin Institute . 2017,第15期

机译：参数不确定性的四旋翼系统自适应轨迹跟踪控制器
2. Uncertainty and Disturbance Estimator-Based Robust Trajectory Tracking Control for a Quadrotor in a Global Positioning System-Denied Environment [J] . Lu Qi, Ren Beibei, Parameswaran Siva, Journal of Dynamic Systems, Measurement, and Control . 2018,第3期

机译：全球定位系统拒绝环境中四足电池的不确定性与扰动估计的鲁棒轨迹跟踪控制
3. Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System [J] . Hoffman Derek, Rehan Muhammad, MacKunis William, International Journal of Control, Automation, and Systems . 2018,第6期

机译：基于四元的稳健轨迹跟踪控制的四轮压力机悬停系统
4. PSO-based ANFIS for quadrotor system trajectory-tracking control [C] . Halima Housny, El Ayachi Chater, Hassan El Fadil International Conference on Innovative Research in Applied Science, Engineering and Technology . 2020

机译：基于PSO的ANFIS用于四旋翼系统轨迹跟踪控制
5. Quaternion-based control for aggressive trajectory tracking with a micro-quadrotor UAV. [D] . Kehlenbeck, Andrew. 2014

机译：基于四元数的微四驱无人机进行主动轨迹跟踪的控制。
6. Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm [O] . Dongdong Yuan, Yankai Wang 2021

机译：基于升高和ISMC算法的四轮压发电机形成轨迹跟踪的数据驱动模型自适应控制方法
7. Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor [O] . Arturo Govea-Vargas, Rafael Castro-Linares, Manuel Duarte-Mermoud, 2018

机译：一类二阶扰动非线性系统的分数级滑动模式控制：应用于四射线轨迹跟踪的应用

The Trajectory Tracking Problem for Quadrotor System

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