| contributor author | Xian, Bin | |
| contributor author | Zhao, Bo | |
| contributor author | Zhang, Yao | |
| contributor author | Zhang, Xu | |
| date accessioned | 2017-11-25T07:20:36Z | |
| date available | 2017-11-25T07:20:36Z | |
| date copyright | 2016/9/9 | |
| date issued | 2017 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_139_01_011003.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4236561 | |
| description abstract | In this paper, a new adaptive tracking controller is developed for a quadrotor unmanned aerial vehicle (UAV) via immersion and invariance (I&I) approach. The controller is able to compensate parametric uncertainties such as the unmeasurable effects of the deviated center-of-gravity (CoG), as well as the aerodynamic coefficients. The globally asymptotic tracking of the desired attitude trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results performed on a quadrotor attitude control testbed are given to show the good control performance of the proposed scheme. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Nonlinear Control of a Quadrotor With Deviated Center of Gravity | |
| type | Journal Paper | |
| journal volume | 139 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4034366 | |
| journal fristpage | 11003 | |
| journal lastpage | 011003-8 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2017:;volume( 139 ):;issue: 001 | |
| contenttype | Fulltext | |