Robust H∞ attitude tracking control of a quadrotor UAV on SO(3) viavariation-based linearization and interval matrix approach
发布时间：2019-04-20
点击次数：
发表刊物：ISA Transactions
关键字：Attitude tracking,Robust H∞ control,SO(3),Variation-based linearization
摘要：This paper deals with the attitude tracking control of quadrotor unmanned aerial vehicles (UAV) with uncertainties and external disturbances. The control systemis expressed on the special orthogonal group, SO(3), to avoid singularities and ambiguities associated with Euler angles and quaternions respectively. It is also the basis for achieving large angle tracking and complex UAV maneuver. Meanwhile, it greatly reducing the complexity of the controller design via variation-based linearization. And the approach of intervalmatrix is introduced to solve problems of controller online calculation a
合写作者：年晓红, 熊红云, 李铮, 王海波
论文类型：基础研究
学科门类：控制科学与工程
文献类型：J
期号：87
页面范围：10-16
是否译文：否
发表时间：2019-04-20