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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)
作者部门机器人学研究室
关键词Quadrotor Control Input Constraint Large-scale Stability Control-lyapunov Function
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2016
卷号13期号:5页码:1-10
收录类别SCI ; EI
EI收录号20164402973002
WOS记录号WOS:000394806300005
产权排序1
资助机构National Natural Science Foundation of China (Grant Nos. 61503369 and 61433016)
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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
WOS研究方向Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19371
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), 114 Nanta Street Shenhe District, Shenyang, Liaoning Province, 110016, China
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.
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