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ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES

Josip Kasać   ORCID icon orcid.org/0000-0002-6071-0368 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Stojan Stevanović ; Institute of Robotics and Mechatronics, German Aerospace Center DLR, Oberpfaffenhofen-Wessling, Germany
Tihomir Žillić   ORCID icon orcid.org/0000-0001-7951-444X ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Josip Stepanić   ORCID icon orcid.org/0000-0003-0674-9883 ; Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia

Puni tekst: engleski, pdf (936 KB) str. 29-42 preuzimanja: 913* citiraj
APA 6th Edition
Kasać, J., Stevanović, S., Žillić, T. i Stepanić, J. (2013). ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES. Transactions of FAMENA, 37 (4), 29-42. Preuzeto s https://hrcak.srce.hr/116190
MLA 8th Edition
Kasać, Josip, et al. "ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES." Transactions of FAMENA, vol. 37, br. 4, 2013, str. 29-42. https://hrcak.srce.hr/116190. Citirano 05.12.2021.
Chicago 17th Edition
Kasać, Josip, Stojan Stevanović, Tihomir Žillić i Josip Stepanić. "ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES." Transactions of FAMENA 37, br. 4 (2013): 29-42. https://hrcak.srce.hr/116190
Harvard
Kasać, J., et al. (2013). 'ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES', Transactions of FAMENA, 37(4), str. 29-42. Preuzeto s: https://hrcak.srce.hr/116190 (Datum pristupa: 05.12.2021.)
Vancouver
Kasać J, Stevanović S, Žillić T, Stepanić J. ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES. Transactions of FAMENA [Internet]. 2013 [pristupljeno 05.12.2021.];37(4):29-42. Dostupno na: https://hrcak.srce.hr/116190
IEEE
J. Kasać, S. Stevanović, T. Žillić i J. Stepanić, "ROBUST OUTPUT TRACKING CONTROL OF A QUADROTOR IN THE PRESENCE OF EXTERNAL DISTURBANCES", Transactions of FAMENA, vol.37, br. 4, str. 29-42, 2013. [Online]. Dostupno na: https://hrcak.srce.hr/116190. [Citirano: 05.12.2021.]

Sažetak
In this paper, a robust output tracking controller for the quadrotor helicopter is proposed. The proposed controller requires the measurement of only four state variables: positions in the inertial coordinate frame and the yaw angle. Also, the controller is robust with respect to the unmodelled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of a quadrotor tracking under the influence of wind which is modelled as unmatched external force disturbances in the horizontal plane.

Ključne riječi
quadrotor; tracking control; robust control; output control

Hrčak ID: 116190

URI
https://hrcak.srce.hr/116190

Posjeta: 1.318 *