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- W4386159086 abstract "This paper proposes a dual channel control mechanism, including continuous control and event-triggered control (ETC). For the nonsmooth desired trajectory, the tracking differentiator (TD) is used to obtain the smooth approximation of the generalized derivative of the desired trajectory. For the non differentiable points of the rough trajectory, the piecewise time-varying buffer function is used to adjust the parameters of TD to avoid the control signal spike caused by the differential output signal of TD at the non-differentiable time of the rough trajectory. Then, the anti-disturbance controller of quadrotor is designed by backstepping method. It is worth noting that the proposed control law is the control input of the rotor end, not the thrust and torque vectors. Finally, the effectiveness of the controller is verified by digital simulation." @default.
- W4386159086 created "2023-08-26" @default.
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- W4386159086 date "2023-07-08" @default.
- W4386159086 modified "2023-09-23" @default.
- W4386159086 title "Anti-Disturbance and Rough Trajectory Tracking Control of Quadrotor UAVs Based on Dual-Channel Control Mechanism" @default.
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- W4386159086 doi "https://doi.org/10.1109/icarm58088.2023.10218948" @default.
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