文章基本信息

标题：Hovering Control for Automatic Landing Operation of An Inspection Drone to A Mobile Platform
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作者：Shaobao Li ; Petar Durdevic ; Zhenyu Yang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：8
页码：245-250
DOI：10.1016/j.ifacol.2018.06.384
语种：English
出版社：Elsevier
摘要：AbstractThis paper investigates the hovering control problem of a drone on a 6-DOF mobile platform. An inner-outer loop strategy based on high-gain observer is presented. In the outer loop, the high-gain observer is designed to estimate the states of the drone such that its velocity and acceleration measurements are not necessary, and then a nested saturation controller is designed. In the inner loop, a hybrid controller which can be effectively used for avoiding unwinding phenomenon is applied to regulate the attitude of the drone. Finally, a simulation example is used to demonstrate the effectiveness of the proposed control method.
关键词：KeywordsHoveringlandinghigh-gain observerhybrid controlunderactuated system