Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-04
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed.
In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking.
The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes.
The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.
American Psychological Association (APA)
He, ZeFang& Zhao, Long. 2015. Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1074906
Modern Language Association (MLA)
He, ZeFang& Zhao, Long. Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control. Mathematical Problems in Engineering No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1074906
American Medical Association (AMA)
He, ZeFang& Zhao, Long. Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1074906
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074906