基于两种控制策略的四轴飞行器编队轨迹跟踪

2016 IEEE Ecuador Technical Chapters Meeting (ETCM) Pub Date : 2016-10-01 DOI:10.1109/ETCM.2016.7750839

Viviana Moya, V. Espinosa, D. Chávez, P. Leica, O. Camacho

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引用次数: 8

摘要

本文的目的是通过建立虚拟领导者(质心)与位于每个顶点的四轴飞行器之间的几何关系，通过ISE指标分析基于虚拟结构的四轴飞行器编队的SMC和PD控制两种技术的性能。控制器用于稳定和轨迹跟踪。稳定性分析采用李雅普诺夫直接法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory tracking for quadcopter's formation with two control strategies

The aim of this paper is to analyze the performance through the ISE index between the two techniques SMC and PD control for quadcopters formation based on a virtual structure by establishing geometrical relationships between the virtual leader (centroid) and quadcopters located in each vertex. The controllers are used for stabilization and trajectory tracking. To analyze the stability, the direct method of Lyapunov is used.

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2016 IEEE Ecuador Technical Chapters Meeting (ETCM)

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