{"title":"基于浸没和不变性技术的欠驱动四旋翼飞行器渐近跟踪控制","authors":"Yuehui Ji, Hailiang Zhou, Xianggui Guo","doi":"10.1109/CCDC.2017.7978786","DOIUrl":null,"url":null,"abstract":"A nonlinear tracking control based on Immersion and Invariance-based(I&I) technology, is addressed to achieve asymptotic tracking for 3-D position and yaw motion of an underactuated quadrotor. In the underlying control scheme, an inner/outer-loop construction is designed to handle the underactuated property. The I&I technology is constructed for stable tracking for the inner-loop and outer-loop. Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical simulations on Matlab/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"27 1","pages":"1674-1679"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Asymptotic tracking control for an underactuated quadrotor via immersion and invariance technology\",\"authors\":\"Yuehui Ji, Hailiang Zhou, Xianggui Guo\",\"doi\":\"10.1109/CCDC.2017.7978786\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A nonlinear tracking control based on Immersion and Invariance-based(I&I) technology, is addressed to achieve asymptotic tracking for 3-D position and yaw motion of an underactuated quadrotor. In the underlying control scheme, an inner/outer-loop construction is designed to handle the underactuated property. The I&I technology is constructed for stable tracking for the inner-loop and outer-loop. Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical simulations on Matlab/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme.\",\"PeriodicalId\":6588,\"journal\":{\"name\":\"2017 29th Chinese Control And Decision Conference (CCDC)\",\"volume\":\"27 1\",\"pages\":\"1674-1679\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 29th Chinese Control And Decision Conference (CCDC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCDC.2017.7978786\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 29th Chinese Control And Decision Conference (CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2017.7978786","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Asymptotic tracking control for an underactuated quadrotor via immersion and invariance technology
A nonlinear tracking control based on Immersion and Invariance-based(I&I) technology, is addressed to achieve asymptotic tracking for 3-D position and yaw motion of an underactuated quadrotor. In the underlying control scheme, an inner/outer-loop construction is designed to handle the underactuated property. The I&I technology is constructed for stable tracking for the inner-loop and outer-loop. Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical simulations on Matlab/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
