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Output Feedback Control for a Quadrotor Aircraft Using an Adaptive High Gain Observer
Gerardo Flores,V. González-Huitron,A. E. Rodríguez-Mata 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
This paper addresses the problem of quadrotor control under unknown and time-varying disturbances. It is assumed that such disturbances affect the entire quadrotor’s dynamics, i.e., in attitude and position. To stabilize the quadrotor, we propose an output-feedback control approach, in which we implement a Backstepping control together with an Adaptive High Gain Observer to estimate disturbances. The stability of the closed-loop system is proved via the Lyapunov theory. Furthermore, the effectiveness of the methodology is illustrated through numerical simulations and experiments.