文章基本信息

标题：Filtered Output Feedback Tracking Control of a Quadrotor UAV
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作者：Erjen Lefeber ; Marcus Greiff ; Anders Robertsson 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5764-5770
DOI：10.1016/j.ifacol.2020.12.1609
语种：English
出版社：Elsevier
摘要：AbstractWe present a tracking controller for quadrotor UAVs which uses partial state information and filters the measurements to attenuate noise. We show uniform almost global asymptotic and local exponential stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.
关键词：KeywordsUAVstrackingoutput feedback controlnonlinear observersLyapunov methods