A dynamic surface control method is proposed to control position and attitude of quadrotor unmanned air vehicle( UAV) against its characteristics of underactuation. Considering that velocity and angular velocity are hard to measure,we design a high-gain observer for UAV to estimate velocity and angular velocity. Compared with backstepping approach,the design of dynamic surface control is more concise. Dynamic surface control eliminates the problem ofexplosion of complexityby introducing filter. Traditional ...
【基金】
高等学校博士学科点专项科研基金(20121102110008)~~
【更新日期】
2016-09-08
【分类号】
V249.1;V279
【正文快照】
网络出版地址:www.cnki.net/kcms/detail/11.2625.V.20151119.1058.012.html引用格式:方旭,刘金琨.四旋翼无人机动态面控制[J].北京航空航天大学学报,2016,42(8):1777-1784.FANG X,LIU J K.Dynamic surface control for quadrotor unmanned air vehicle[J].Journal of Beijing
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