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논문 목록
Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System
저자
Derek Hoffman, Muhammad Rehan, William MacKunis, Mahmut Reyhanoglu
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2018
주제
요약
본 논문은 호버 시스템 테스트베드에서 3자유도 자세 궤적 추적을 위한 강인한 비선형 출력 피드백 제어 방법을 제시합니다. 제안하는 제어 방법은 테스트베드 전압 제약과 더불어 동적 모델 불확실성을 공식적으로 통합하며, Lyapunov 기반 안정성 분석을 통해 점근적 3자유도 자세 궤적 추적 제어를 증명합니다.
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