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논문 목록
Nonlinear Adaptive Backstepping with ESO for the Quadrotor Trajectory Tracking Control in the Multiple Disturbances
저자
Jie Liu, Wendong Gai, Jing Zhang, Yuxia Li
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2019
주제
요약
본 논문에서는 파라미터 불확실성, 액추에이터 고장, 외부 외란을 포함한 다중 외란 환경에서 쿼드로터의 궤적 추적 제어를 위한 비선형 적응 백스텝핑 제어 기법을 제안합니다. 확장 상태 관측기(ESO)를 활용하여 내부 및 외부 외란에 대한 적응 백스텝핑 제어기를 설계하고, 원형 기준을 통해 시스템의 안정성을 증명했습니다. 시뮬레이션 결과는 제안된 방법의 효과를 입증합니다.
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