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  • 标题:Trajectory Tracking for a Multicopter under a Quaternion Representation ⁎
  • 本地全文:下载
  • 作者:Huu Thien Nguyen ; Ngoc Thinh Nguyen ; Ionela Prodan
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2020
  • 卷号:53
  • 期号:2
  • 页码:5731-5736
  • DOI:10.1016/j.ifacol.2020.12.1602
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis paper proposes a two-layer hierarchical control scheme for trajectory tracking of a multicopter system using attitude quaternion. We first present the differential flatness properties of the system and then, exploit them to design the feedback linearization laws for the position controller at the high control level. Next, the computed-torque control method is employed for stabilizing the attitude quaternion. The whole control scheme is illustrated through simulations while the position controller is further tested under experiments over a nano-drone quadcopter platform.
  • 关键词:KeywordsQuaternionTrajectory trackingDifferential flatnessFeedback linearizationComputed torque controlMulticopter unmanned vehicle
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