J. Colmenares-Vazquez, Nicolas Marchand, J. Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, J. Alvarez-Muñoz, Jonathan Dumon
{"title":"外部恒定扰动下四旋翼飞行器的位置控制","authors":"J. Colmenares-Vazquez, Nicolas Marchand, J. Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, J. Alvarez-Muñoz, Jonathan Dumon","doi":"10.1109/RED-UAS.2015.7441005","DOIUrl":null,"url":null,"abstract":"In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"13 4","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Position control of a quadrotor under external constant disturbance\",\"authors\":\"J. Colmenares-Vazquez, Nicolas Marchand, J. Gomez-Balderas, Pedro Castillo, J. J. Téllez-Guzmán, J. Alvarez-Muñoz, Jonathan Dumon\",\"doi\":\"10.1109/RED-UAS.2015.7441005\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.\",\"PeriodicalId\":317787,\"journal\":{\"name\":\"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)\",\"volume\":\"13 4\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RED-UAS.2015.7441005\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RED-UAS.2015.7441005","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Position control of a quadrotor under external constant disturbance
In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally, we include some experiments for validating the results obtained via simulation.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
