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• W2016907482 abstract "A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances." @default.
• W2016907482 created "2016-06-24" @default.
• W2016907482 creator A5048045446 @default.
• W2016907482 creator A5080158688 @default.
• W2016907482 date "2014-05-01" @default.
• W2016907482 modified "2023-10-16" @default.
• W2016907482 title "Position and attitude tracking control for a quadrotor UAV" @default.
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• W2016907482 doi "https://doi.org/10.1016/j.isatra.2014.01.004" @default.
• W2016907482 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/24534327" @default.
• W2016907482 hasPublicationYear "2014" @default.
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