Robust Trajectory Tracking Control for Tail-Sitter UAVs
作者单位：School of Astronautics Beihang Univeristy
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
基 金：supported by the National Natural Science Foundation of China under Grant 61503012 the Fundamental Research Funds for the Central Universities under Grants YWF-17-BJ-Y-86 and YWF-14-YHXY-019
关 键 词：Tail-sitter unmanned aerial vehicles robust control trajectory tracking control nonlinear system
摘 要：In this paper, a robust trajectory tracking control method is presented for a class of tail-sitter unmanned aerial vehicles（UAVs） based on robust compensation method. The proposed controller consists of a position controller and an attitude ***, global stability of the closed-loop control system can be proved via the small gain theory. Simulation results illustrate the effectiveness of the proposed control method.