This study proposes a universal (U)-control enhanced with dynamic inversion for a class of multiple-input multiple-output (MIMO) quadrotor flight tracking operations. In the technique, a robust compensator is integrated with the U-controller to achieve stabilisation at the equilibrium and setpoint tracking in the presence of any unmodelled uncertainties and external disturbances. A series of bench tests of simulated and real experiments on a Parrot Mambo quadrotor are conducted to show the design framework from the academic formulation to Simulink simulation and real flight tests.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Dynamic Inversion-Enhanced U-Control of Quadrotor Trajectory Tracking


    Beteiligte:
    Ahtisham Lone (Autor:in) / Quanmin Zhu (Autor:in) / Hamidreza Nemati (Autor:in) / Paolo Mercorelli (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, G. / Waslander, S. / Tomlin, C. et al. | British Library Conference Proceedings | 2008



    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, Gabriel / Waslander, Steven / Tomlin, Claire | AIAA | 2008


    Adaptive dynamic control for trajectory tracking with a quadrotor

    Santos, Milton / Rosales, Claudio / Sarapura, Jorge et al. | IEEE | 2017


    Adaptive dynamic control of a quadrotor for trajectory tracking

    Rosales, Claudio / Soria, Carlos / Carelli, Ricardo et al. | IEEE | 2017