Geometry-Based Output Robust Tracking Control of a Quadrotor

Autor:	Borisov, O. I., Kakanov, M. A., Zhivitckii, A. Iu., Pyrkin, A. A.
Jazyk:	ruština
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it possible to ensure the movement of a quadrotor in a horizontal plane along a trajectory given in the form of a sinusoidal or second-order polynomial function with semiglobal asymptotic convergence of the tracking errors to zero. Comment: in Russian
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2110.09591 Zobrazit plný text záznamu View this record from Arxiv