Moving Target Landing of a Quadrotor Using Robust Optimal Guaranteed Cost Control

作     者：Kewei Xia Seong-Min Lee Wonmo Chung Yao Zou Hungsun Son Kewei Xia;Seong-Min Lee;Wonmo Chung;Yao Zou;Hungsun Son

作者机构：Department of Mechanical EngineeringUlsan National Institute of Science and TechnologyUlsan 44919South Korea Institute of Artificial IntelligenceUniversity of Science and Technology BeijingBeijing 100083China IEEE 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第3期

页      面：819-821页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the Future Innovation Research Funds of Ulsan National Institute of Science and Technology,Development of Drone System for Ship and Marine Mission(1.220025.01)of Institute of Civil-Military Technology Cooperation(2.200021.01) the National Research Foundation of Korea grant funded by the Korea Government(MSIT)(2020R1F1A 1075857) Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education(2020R1A6A1A03040570) Beijing Institute of Technology Research Fund Program for Young Scholars the National Natural Science Foundation of China(62203054) 

主　　题：Optimal constraint autonomous 

摘      要：Dear Editor,This letter proposes a robust control strategy for the autonomous landing of a quadrotor on a moving ***,a force command that consists of a cascade dynamics estimator and an optimal guaranteed cost control law is exploited for the position-loop ***,an orientation constraint torque command is employed for the attitude-loop tracking such that the quadrotor refrains from flipping during the landing operation.