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题名: Large-scale stabilization control of input-constrained quadrotor
作者: 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
通讯作者: 何玉庆
关键词: Quadrotor ; control input constraint ; large-scale stability ; control-Lyapunov function
刊名: International Journal of Advanced Robotic Systems
ISSN号: 1729-8806
出版日期: 2016
卷号: 13, 期号:5, 页码:1-10
收录类别: EI
产权排序: 1
项目资助者: 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
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19371
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
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.
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