基于级联能量的四旋翼飞行器轨迹跟踪控制研究

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI:10.1109/MMAR55195.2022.9874313

J. Horn

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引用次数: 0

摘要

针对基于能量级联的四旋翼飞行器轨迹跟踪控制问题，推导了四旋翼飞行器姿态轨迹跟踪所需推力方向的一阶导数和二阶导数。

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A Remark on Cascaded Energy Based Trajectory Tracking Control of a Quadrotor

Considering the cascaded energy based trajectory tracking control of a quadrotor, the first and second time derivative of the orientation of the desired thrust force are derived, that are required for the trajectory tracking of the attitude of the quadrotor in the inner control loop.

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来源期刊

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)

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