The recent development of unmanned aerial vehicle flight control creates a strong demand for higher control accuracy and control quality. To meet such demands, we propose a nonlinear control strategy for path tracking control of quad-rotor miniature unmanned aerial vehicles(MAVs). Firstly, based on Newton-Euler's laws, the nonlinear mathematical model of a quad-rotor MAV is built in singular perturbation form. By singular perturbation theory and time-scaling techniques, we decouple the system into the fast ...
【基金】
Supported by the Fundamental Research Funds for the Central Universities(30920140112005,30915011105,30915011104)
【更新日期】
2015-12-30
【分类号】
V249.1
【正文快照】
1 IntroductionRecent advances in the investigation of unmannedvehicles have led to enormous exciting developments,particularly,with the platform of quad-rotor minia-ture unmanned aerial vehicles(MAVs).As opposedto fixed wing vehicles,the quad-rotor MAV is
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