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ROBUST TRACKING CONTROL OF A QUADCOPTER BY OUTPUT BASED ON THE GEOMETRIC APPROACH

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The problem of tracking control of a quadcopter with unmeasurable pitch and roll angles is solved on the basis of the geometric approach. The enhanced extended observer and the internal model are used to solve the problem. The proposed approach makes it possible to ensure the quadcopter movement in horizontal plane along a trajectory given by a periodic (sinusoidal) function or a second-order polynomial function. Quadcopter motion is characterized by semiglobal asymptotic convergence of the tracking errors to zero.

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