This paper addresses a robust trajectory tracking controller for an underactuated quadrotor with external bounded disturbances and unknown inertia parameters. Different from most of the existing control algorithms, the proposed method does not adopt the dual-loop scheme in which the design is divided into position control and attitude control. Instead, command filter backstepping is employed to design the controller based on the integrated motion model such that the stability can be guaranteed strictly for the flight control system. Furthermore, adaptive compensation and robust compensation are introduced to deal with the uncertainty of the inertia parameters and the external bounded disturbances, respectively. Finally, a similar skew symmetric structure is chosen as the desired structure of the closed-loop system to facilitate the analysis of the stability of the integrated system. Stability and robust performance of the designed controller are verified by Lyapunov stability theorem. Simulations are provided to validate the proposed controller.
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Publication date: Available online 4 January 2018 Source: European Journal of Radiology Author(s): Peiyao Zhang, Jing Wang, Qin Xu, Zhen...
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Publication date: March 2017 Source: Free Radical Biology and Medicine, Volume 104 from #AlexandrosSfakianakis via Alexandros G.Sfak...
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Dtsch med Wochenschr DOI: 10.1055/s-0043-100054 Hintergrund und Fragestellung Ein etablierter Weg, die optimale Behandlung von Tumorpatien...
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Background Hyperthyroidism is associated with increased thrombotic risk. As contact system activation through formation of neutrophil extrac...
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Deepak Thapa, Vanita Ahuja, Deepanshu Dhiman Indian Journal of Anaesthesia 2017 61(12):1012-1014 from #AlexandrosSfakianakis via Alexa...
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Abstract Limited memory size is considered as a major bottleneck in data centers for intelligent urban computing. It is shown that there e...
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ecancer is supporting #BowelCancerAwarenessMonth https://t.co/opXxCAAxzE from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inore...
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Linked Article: Maintz et al. Br J Dermatol 2017; 176:481–487 . from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader h...
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We present a patient with an asymptomatic unilateral swelling of the anterolateral thigh. MRI showed hypertrophy of the tensor fasciae latae...
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