文章基本信息

标题：Attitude Stabilization of Quadrotor with Input Time Delay
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作者：Manmohan Sharma ; Indrani Kar
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：9360-9365
DOI：10.1016/j.ifacol.2020.12.2393
语种：English
出版社：Elsevier
摘要：AbstractA predictor feedback control for attitude stabilization of quadrotors with input time delay has been proposed in this paper by representing the attitude using rotation matrices to avoid the singularities and ambiguities associated with Euler angles and quaternions. The closed loop system is shown to be asymptotically stable with respect to a norm defined in the text. The norm has been defined in terms of states and past control efforts and hence explicitly results in Lyapunov Krasovskii functional for the system. A cascade of PDE-ODE system and the concept of transport delay has been used in the proof.
关键词：KeywordsInput-Time DelayLyapunov-Krasovskii functionalGeometric ControlQuadrotors