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H∞ path tracking control for quadrotors based on quaternion representation

Jasim, W and Gu, D (2014) H∞ path tracking control for quadrotors based on quaternion representation. UNSPECIFIED. ISBN 9783319104003

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Abstract

In this work, the path tracking problem of quadrotors is investigated. A quadrotor is represented by unit quaternion and modeled with added disturbance. Given full and accurate location information, a nonlinear H∞ control law is proposed and its stability is analyzed by using Lyapunov stability theorem. The added disturbance includes parameter changes and force disturbance. The simulation result demonstrates the closed loop path tracking system is stable with and without the added disturbance. © 2014 Springer International Publishing.

Item Type: Book
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 22 Jul 2015 15:04
Last Modified: 15 Nov 2018 21:15
URI: http://repository.essex.ac.uk/id/eprint/14411

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