TY - JOUR
T1 - A robust approach for trajectory tracking control of a quadrotor with experimental validation
AU - Pérez-Alcocer, Ricardo
AU - Moreno-Valenzuela, Javier
AU - Miranda-Colorado, Roger
N1 - Publisher Copyright:
© 2016 ISA
PY - 2016/11/1
Y1 - 2016/11/1
N2 - In this paper, a new control scheme for motion control of quadrotors is presented. The proposed model based controller makes use of simple estimations of vehicle parameters. Besides, the controller is developed under properties of the vehicle model. A rigorous analysis is developed to prove that the closed-loop system trajectories are uniformly ultimately bounded. The validity of the proposed control scheme is tested by numerical simulations and experimental results. This validation shows that the proposed controller guarantees that the quadrotor performs tracking of a desired pose (position and orientation) trajectory with good accuracy. The new scheme has been compared with respect to other robust controllers. The results indicate better tracking accuracy for the new scheme.
AB - In this paper, a new control scheme for motion control of quadrotors is presented. The proposed model based controller makes use of simple estimations of vehicle parameters. Besides, the controller is developed under properties of the vehicle model. A rigorous analysis is developed to prove that the closed-loop system trajectories are uniformly ultimately bounded. The validity of the proposed control scheme is tested by numerical simulations and experimental results. This validation shows that the proposed controller guarantees that the quadrotor performs tracking of a desired pose (position and orientation) trajectory with good accuracy. The new scheme has been compared with respect to other robust controllers. The results indicate better tracking accuracy for the new scheme.
UR - http://www.scopus.com/inward/record.url?scp=84995422428&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2016.08.001
DO - 10.1016/j.isatra.2016.08.001
M3 - Artículo
C2 - 27609524
SN - 0019-0578
VL - 65
SP - 262
EP - 274
JO - ISA Transactions
JF - ISA Transactions
ER -