Journal:ISA Transactions
Key Words:Attitude tracking,Robust H∞ control,SO(3),Variation-based linearization
Abstract: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
Co-author:年晓红, 熊红云, 李铮, 王海波
Indexed by:Unit Twenty Basic Research
Discipline:控制科学与工程
Document Type:J
Issue:87
Page Number:10-16
Translation or Not:no