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Quadrotor waypoint navigation and trajectory tracking using backstepping technique
Chuan Lian Zhang,Kill To Chong 대한전기학회 2015 대한전기학회 학술대회 논문집 Vol.2015 No.4
Researchers have given much attention on quadrotor due to its practical military and civilian application. Quadrotor is a system which has complex dynamics, nonlinearities and high degree of coupling between control inputs and state variables. To confront these problems, this paper developed a backstepping controller for quadrotor waypoint navigation and trajectory tracking control, and the controller can set quadrotor track desired positions(x, y, z) and yaw angle while stabilize pitch and roll angles. Besides that, a simple path planning algorithm was presented to get a time-parameterized polynomial trajectory between two points. Simulations have been done on waypoint navigation and trajectory tracking and simulation results showed that backstepping controller got good performance.
Quadrotor waypoint navigation and trajectory tracking using backstepping technique
Chuan Lian Zhang,Kill To Chong 대한전기학회 2015 정보 및 제어 심포지엄 논문집 Vol.2015 No.4
Researchers have given much attention on quadrotor due to its practical military and civilian application. Quadrotor is a system which has complex dynamics, nonlinearities and high degree of coupling between control inputs and state variables. To confront these problems, this paper developed a backstepping controller for quadrotor waypoint navigation and trajectory tracking control, and the controller can set quadrotor track desired positions(x, y, z) and yaw angle while stabilize pitch and roll angles. Besides that, a simple path planning algorithm was presented to get a time-parameterized polynomial trajectory between two points. Simulations have been done on waypoint navigation and trajectory tracking and simulation results showed that backstepping controller got good performance.
Liu, Qiong Zhen,Zhang, Lian Meng,Shen, Qiang,Jiang, Hong Yi,Wang, Chuan Bin Trans Tech Publications, Ltd. 2006 Key engineering materials Vol.313 No.-
<P>By two-step solid state reaction, Mg2Si0.8Ge0.2 was successfully synthesized .The effect of Ag-doping concentration on the thermoelectric transport properties of p-type Mg2Si0.8Ge0.2 was investigated. With the increasing of Ag-doping concentration, the electrical conductivity σ and Seebeck coefficient α increase correspondingly over the measuring temperature range (300-800K).The peaks of the curves of Seebeck coefficient versus temperature shift towards the lower temperature .When the doping concentration of Ag is 16000ppm(nominal molar percent), the power factor P of Mg2Si0.8Ge0.2 reaches 4.4×10-4W/mK2 at 800K,obviously improved in comparison with the sample with no additive .</P>
Yong He,Zhi Lian,Chuan-Ke Zhang,Min Wu 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
This paper is concerned with the problem of delay-dependent stability criteria for Takagi-Sugeno systemswith time-varying delay. The less conservative delay-dependent stability criteria in terms of linear matrix inequalitiesare obtained by constructing a novel augmented Lyapunov-Krasovskii functional. In order to further improvethe stability conditions, the free- matrix-based integral inequality is employed. Finally, several numerical exampleson time-delay stability analysis are given to demonstrate the effectiveness and the merits of the proposed methods.