Adaptive trajectory tracking control of output constrained multi-rotors systems
Adaptive trajectory tracking control of output constrained multi-rotors systems
复制标题
输出约束多旋翼系统的自适应轨迹跟踪控制
DOI：
10.1049/iet-cta.2013.0949
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发表时间：
2014-09
影响因子：
2.6
通讯作者：
Chenliang Wang
中科院分区：
文献类型：
--
作者：
Zongyu Zuo;Chenliang Wang
在受限区域部署的无人机输出受限控制系统的设计在实践中是一个重要问题，并且在许多自动驾驶系统中未被考虑。在这项研究中，作者提出了一种基于神经网络的自适应（后面似乎不完整）
The design of output constrained control system for unmanned aerial vehicles deployed in confined areas is an important issue in practice and not taken into account in many autopilot systems. In this study, the authors address a neural networks-based adaptive trajectory tracking control algorithm for multi-rotors systems in the presence of various uncertainties in their dynamics. Given any sufficient smooth and bounded reference trajectory input, the proposed algorithm achieves that (i) the system output (Euclidean position) tracking error converges to a neighbourhood of zero and furthermore (ii) the system output remains uniformly in a prescribed set. Instead of element-wise estimation, a norm estimation approach of unknown weight vectors is incorporated into the control system design to relieve the onboard computation burden. The convergence property of the closed-loop system subject to output constraint is analysed via a symmetric barrier Lyapunov function augmented with several quadratic terms. Simulation results are demonstrated on a quadrotor model to validate the effectiveness of the proposed algorithm.
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影响因子：
6.8
作者：
C. Cao;N. Hovakimyan
通讯作者：
C. Cao;N. Hovakimyan
DOI：
10.3182/20110828-6-it-1002.02453
发表时间：
2011
期刊：
IFAC Proceedings Volumes
影响因子：
--
作者：
G. Raffo;M. Ortega;F. Rubio
通讯作者：
G. Raffo;M. Ortega;F. Rubio
DOI：
10.3182/20020721-6-es-1901.00848
发表时间：
2002
期刊：
IFAC Proceedings Volumes
影响因子：
--
作者：
T. Hamel;R. Mahony;R. Lozano;J. Ostrowski
通讯作者：
T. Hamel;R. Mahony;R. Lozano;J. Ostrowski
影响因子：
4.9
作者：
G. Hoffmann;Haomiao Huang;Steven L. Waslander;C. Tomlin
通讯作者：
G. Hoffmann;Haomiao Huang;Steven L. Waslander;C. Tomlin
影响因子：
2.6
作者：
Kaminer, Isaac;Pascoal, Antonio;Dobrokhodov, Vladimir
通讯作者：
Dobrokhodov, Vladimir