| 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)
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| Department | 机器人学研究室 |
| Source Publication | International Journal of Advanced Robotic Systems
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| ISSN | 1729-8806 |
| 2016 | |
| Volume | 13Issue:5Pages:1-10 |
| Indexed By | SCI ; EI |
| EI Accession number | 20164402973002 |
| WOS ID | WOS:000394806300005 |
| Contribution Rank | 1 |
| Funding Organization | National Natural Science Foundation of China (Grant Nos. 61503369 and 61433016) |
| Keyword | Quadrotor Control Input Constraint Large-scale Stability Control-lyapunov Function |
| Abstract | 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. |
| Language | 英语 |
| WOS Headings | Science & Technology ; Technology |
| WOS Subject | Robotics |
| WOS Research Area | Robotics |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/19371 |
| Collection | 机器人学研究室 |
| Corresponding Author | He YQ(何玉庆) |
| Affiliation | Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), 114 Nanta Street Shenhe District, Shenyang, Liaoning Province, 110016, China |
| Recommended Citation 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Large-scale stabiliz（837KB） | 期刊论文 | 作者接受稿 | 开放获取 | ODC PDDL | View Application Full Text | |
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