{"title":"基于新型无源输出的重访四旋翼模型能量整形控制器","authors":"J. G. Romero, H. Rodríguez-Cortés","doi":"10.1109/ICUAS.2018.8453319","DOIUrl":null,"url":null,"abstract":"This article proposes a new control algorithm to solve the regulation problem for a quadrotor vehicle using the passivity-based control method, without solving partial differential equations neither performing a partial dynamic inversion. After a resourceful change of coordinates, it is possible to identify new quadrotor cyclo passive outputs. Then, a nonlinear proportional-integral controller in terms of these cyclo passive outputs completes the design. The proposed controller is evaluated using numerical simulations.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Energy Shaping Controller for a Revisited Quadrotor Model Using New Passive Outputs\",\"authors\":\"J. G. Romero, H. Rodríguez-Cortés\",\"doi\":\"10.1109/ICUAS.2018.8453319\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article proposes a new control algorithm to solve the regulation problem for a quadrotor vehicle using the passivity-based control method, without solving partial differential equations neither performing a partial dynamic inversion. After a resourceful change of coordinates, it is possible to identify new quadrotor cyclo passive outputs. Then, a nonlinear proportional-integral controller in terms of these cyclo passive outputs completes the design. The proposed controller is evaluated using numerical simulations.\",\"PeriodicalId\":246293,\"journal\":{\"name\":\"2018 International Conference on Unmanned Aircraft Systems (ICUAS)\",\"volume\":\"39 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Conference on Unmanned Aircraft Systems (ICUAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICUAS.2018.8453319\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUAS.2018.8453319","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Energy Shaping Controller for a Revisited Quadrotor Model Using New Passive Outputs
This article proposes a new control algorithm to solve the regulation problem for a quadrotor vehicle using the passivity-based control method, without solving partial differential equations neither performing a partial dynamic inversion. After a resourceful change of coordinates, it is possible to identify new quadrotor cyclo passive outputs. Then, a nonlinear proportional-integral controller in terms of these cyclo passive outputs completes the design. The proposed controller is evaluated using numerical simulations.
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