This paper considers the point-to-point tracking control problem of an underactuated surface vessel(USV) with output constraints and *** controller design is based on backstepping *** Lyapunov function(BLF) is use...
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This paper considers the point-to-point tracking control problem of an underactuated surface vessel(USV) with output constraints and *** controller design is based on backstepping *** Lyapunov function(BLF) is used to address the output *** addition,a radial basis function neural network(RBFNN) is constructed to provide an estimation and compensation of the unknown *** is proved that under the proposed control,the constraints will never be violated,and all closed-loop signals are *** results and comparisons illustrate the effectiveness and advantages of the proposed controller.
This paper presents a two-layer controller strategy for the quadrotor with attitude constraints. The inner layer called angular rate controller layer uses PID control to handle the unknown quadrotor parameters. The fa...
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This paper presents a two-layer controller strategy for the quadrotor with attitude constraints. The inner layer called angular rate controller layer uses PID control to handle the unknown quadrotor parameters. The fast dynamic of the closed-loop system of the inner layer is checked though identifying the system’s model. After then, the smooth bounded hyperbolic functions of the state variables are used with the nonlinear control technology to achieve trajectory tracking for the outer-loop layer. Finally, the simulation results demonstrate the effectiveness of the proposed controller.
A quadrotor carrying a cable-suspended load is usually called the quadrotor slung load(QSL) *** existence of the slung load degrades the performance of the quadrotor and even affects the stability of the closedloop ...
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A quadrotor carrying a cable-suspended load is usually called the quadrotor slung load(QSL) *** existence of the slung load degrades the performance of the quadrotor and even affects the stability of the closedloop *** this paper,the stability and trajectory tracking of the QSL system are ***,the system model is detailed anylized based on Newton-Euler and Euler-Lagrange ***,in order to resist the impact of the load and external environmental disturbance on the quadrotor,the double active disturbance rejection control(ADRC) control strategy is *** load swing is considered as external disturbance to the *** extended state observer(ESO) is employed in the position loop and attitude loop of the controller respectively to estimate disturbance of the ***,experiments are conducted to validate the stability and effectiveness of the proposed control strategy.
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