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Alternative TitleLarge scale stabilization of multicopter flying robot with input constraint
姜军; 杨丽英; 何玉庆; 韩建达; 徐卫良
Source Publication控制理论与应用
Indexed ByEI ; CSCD
EI Accession number20172103687708
Contribution Rank1
Funding Organization基于知识学习的多旋翼飞行机器人非零初始状态控制方法研究(61273025) ; 非结构环境下基于非精确信息描述的机器人自主规划方法研究(61503369)资助
Keyword多旋翼 控制输入约束 大范围镇定控制 控制lyapunov函数
Other AbstractThe multicopter flying robot has been a hot topic due to its excellent stability, and is attracting ever-increasing attention. In some particular applications, such as: delivering a multicopter from a large aircraft, and recovery from transient instability, there is the necessity for the multicopter to switch from a highly instable and non-zero initial status to a safe and stable flight status immediately, and this is so-called large scale stability control problem. The main difficulty in this control scenario is to avoid the actuator saturation in the adjustment process, which casuses the periodic spin and out of control of the quadrotor. To cope with this problem, taking quadrotor flying robot as research object, the control constraint is first analyzed. A simplified model is obtained from a 6-degree-of-freedom (6--DOF) model, and a two dimension nonlinear dynamic model is extracted with considering the control input constraint. Based on the Lyapunov function, an improved generalized point-wise min-norm control strategy is designed, and the large scale stability of quadrotor with input constraint is achieved. The introduced method possesses analyze control structure, and successes in stabilizing the quadrotor with actuator constraint. The simulation results in contrast with the regular linear control strategy show that the designed controller with the control constraint manages to stabilize the quadrotor in large scale.
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Document Type期刊论文
Corresponding Author何玉庆
Recommended Citation
GB/T 7714
姜军,杨丽英,何玉庆,等. 输入约束下多旋翼飞行机器人的大范围镇定控制[J]. 控制理论与应用,2017,34(2):159-167.
APA 姜军,杨丽英,何玉庆,韩建达,&徐卫良.(2017).输入约束下多旋翼飞行机器人的大范围镇定控制.控制理论与应用,34(2),159-167.
MLA 姜军,et al."输入约束下多旋翼飞行机器人的大范围镇定控制".控制理论与应用 34.2(2017):159-167.
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