文章基本信息

标题：Tracking Control of Quadrotors with dynamic offset between Center of Gravity and Geometric Center
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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：2022
卷号：55
期号：1
页码：88-93
DOI：10.1016/j.ifacol.2022.04.015
语种：English
出版社：Elsevier
摘要：AbstractThe paper proposes a trajectory tracking control law for a quadrotor with its center of gravity not coincident with the geometric center. A robust adaptive estimation law has been proposed to estimate the center of gravity in presence of disturbances and model uncertainty. The estimation as well as the control law has been developed on SE(3) which makes the approach coordinate invariant. The complete error dynamics with the adaptive estimator has been proved to be stable mathematically. Simulation results have been proposed to validate the advantages of our approach.
关键词：KeywordsGeometric ControlQuadrotorsAdaptive control