Jasim, Wesam and Gu, Dongbing (2014) H ∞ Path Tracking Control for Quadrotors Based on Quaternion Representation. Springer International Publishing, pp. 72-84. ISBN 9783319104003. Official URL: https://doi.org/10.1007/978-3-319-10401-0_7
Jasim, Wesam and Gu, Dongbing (2014) H ∞ Path Tracking Control for Quadrotors Based on Quaternion Representation. Springer International Publishing, pp. 72-84. ISBN 9783319104003. Official URL: https://doi.org/10.1007/978-3-319-10401-0_7
Jasim, Wesam and Gu, Dongbing (2014) H ∞ Path Tracking Control for Quadrotors Based on Quaternion Representation. Springer International Publishing, pp. 72-84. ISBN 9783319104003. Official URL: https://doi.org/10.1007/978-3-319-10401-0_7
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 Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
| SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
| Depositing User: | Unnamed user with email elements@essex.ac.uk |
| Date Deposited: | 22 Jul 2015 15:04 |
| Last Modified: | 05 Dec 2024 21:44 |
| URI: | http://repository.essex.ac.uk/id/eprint/14411 |