Quadrotor trajectory tracking based on quasi-LPV system and internal model control
type: Item
instance of: scholarly article
title: Quadrotor trajectory tracking based on quasi-LPV system and internal model control
zbMATH Open document ID: 1394.93201
DOI: 10.1155/2015/857291
author: ZeFang He
author: Long Zhao
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.
Mathematics Subject Classification ID: 93C80
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 6927406
MaRDI profile type: Publication
Wikidata QID: Q59119685
full work available at URL: https://doi.org/10.1155/2015/857291
OpenAlex ID: W1547611158
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description: scientific article; zbMATH DE number 6927406