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http://dx.doi.org/10.5302/J.ICROS.2016.16.0111

Nonlinear Attitude Control for Uncertain Quad-rotors Using a Global Approximation-Free Control Scheme  

Kim, Young-Ouk (Department of Aerospace Engineering, Chosun University)
Park, Seong-Yong (Department of Aerospace Engineering, Chosun University)
Leeghim, Henzeh (Department of Aerospace Engineering, Chosun University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.10, 2016 , pp. 779-787 More about this Journal
Abstract
A nonlinear control law for the quad-rotor of a low-complexity, global approximation-free from system uncertainties and external disturbances are described in this paper. The control law guarantees convergence to a small bounded error using a prescribed performance function. The stability of the proposed nonlinear control system is also proven by the Lyapunov stability theorem. The advantage of this technique is that it has a simpler form than any other nonlinear compensators and is applicable to any nonlinear systems without precise knowledge of the systems. In this paper, the proposed approach is applied to attitude/altitude control of a quad-rotor. Numerical simulations are performed to investigate the proposed nonlinear attitude control law by applying it to an uncertain quadcopter system with external disturbances.
Keywords
qaud-rotor; trajectory tracking; attitude control; model uncertainty; nonlinear control; a low-complexity global approximation-free control scheme;
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Times Cited By KSCI : 2  (Citation Analysis)
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