Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors
A robust nonlinear attitude control method is proposed for uncertain robotic quadrotors. The proposed controller is developed based on a nonlinear model with the quaternion representation and subject to parameter uncertainties, nonlinearities, and external disturbances. A new state feedback controll...
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| Veröffentlicht in: | IEEE transactions on industrial informatics 2015-04, Vol.11 (2), p.406-415 |
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| container_title | IEEE transactions on industrial informatics |
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| creator | Liu, Hao Wang, Xiafu Zhong, Yisheng |
| description | A robust nonlinear attitude control method is proposed for uncertain robotic quadrotors. The proposed controller is developed based on a nonlinear model with the quaternion representation and subject to parameter uncertainties, nonlinearities, and external disturbances. A new state feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop control system. These uncertainties are considered as input equivalent disturbances and their effects are guaranteed to be attenuated. Experimental results are given to show good steady-state and dynamic tracking performance of the closed-loop system by the proposed robust control method compared with other nonlinear control methods. |
| doi_str_mv | 10.1109/TII.2015.2397878 |
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The proposed controller is developed based on a nonlinear model with the quaternion representation and subject to parameter uncertainties, nonlinearities, and external disturbances. A new state feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop control system. These uncertainties are considered as input equivalent disturbances and their effects are guaranteed to be attenuated. Experimental results are given to show good steady-state and dynamic tracking performance of the closed-loop system by the proposed robust control method compared with other nonlinear control methods.</description><identifier>ISSN: 1551-3203</identifier><identifier>EISSN: 1941-0050</identifier><identifier>DOI: 10.1109/TII.2015.2397878</identifier><identifier>CODEN: ITIICH</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Attitude control ; Control systems ; Disturbances ; Dynamical systems ; Nonlinear dynamics ; Nonlinearity ; Quadrotor ; quaternion ; Quaternions ; robust control ; Robustness ; Rotorcraft ; Rotors ; Uncertainty ; Vehicles</subject><ispartof>IEEE transactions on industrial informatics, 2015-04, Vol.11 (2), p.406-415</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Apr 2015</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c324t-98ed5175a333fd159d890668b201062431641984a9c54976f5e64d86020b9b003</citedby><cites>FETCH-LOGICAL-c324t-98ed5175a333fd159d890668b201062431641984a9c54976f5e64d86020b9b003</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/7029079$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/7029079$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Wang, Xiafu</creatorcontrib><creatorcontrib>Zhong, Yisheng</creatorcontrib><title>Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors</title><title>IEEE transactions on industrial informatics</title><addtitle>TII</addtitle><description>A robust nonlinear attitude control method is proposed for uncertain robotic quadrotors. The proposed controller is developed based on a nonlinear model with the quaternion representation and subject to parameter uncertainties, nonlinearities, and external disturbances. A new state feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop control system. These uncertainties are considered as input equivalent disturbances and their effects are guaranteed to be attenuated. Experimental results are given to show good steady-state and dynamic tracking performance of the closed-loop system by the proposed robust control method compared with other nonlinear control methods.</description><subject>Attitude control</subject><subject>Control systems</subject><subject>Disturbances</subject><subject>Dynamical systems</subject><subject>Nonlinear dynamics</subject><subject>Nonlinearity</subject><subject>Quadrotor</subject><subject>quaternion</subject><subject>Quaternions</subject><subject>robust control</subject><subject>Robustness</subject><subject>Rotorcraft</subject><subject>Rotors</subject><subject>Uncertainty</subject><subject>Vehicles</subject><issn>1551-3203</issn><issn>1941-0050</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkDtrwzAUhUVpoeljL3QxdOni9F7Leo1p6MMQKC3JLGRbBgfHSiV56L-vQkKHTvcO3zkcPkLuEOaIoJ7WVTUvANm8oEpIIc_IDFWJOQCD8_QzhjktgF6SqxC2AFQAVTNSfU4mWj_2bsyfTbBt9uXqKcRsEWMfp9ZmSzdG74ascz7bjI310fTjgXKxb7IUb72LzocbctGZIdjb070mm9eX9fI9X328VcvFKm9oUcZcSdsyFMxQSrsWmWqlAs5lncYDL0qKvEQlS6MaVirBO2Z52UoOBdSqTruvyeOxd-_d92RD1Ls-NHYYzGjdFDRyIQELLjChD__QrZv8mNYlSjJUTHKaKDhSjXcheNvpve93xv9oBH1wq5NbfXCrT25T5P4Y6a21f7iAQoFQ9BfAIHKU</recordid><startdate>20150401</startdate><enddate>20150401</enddate><creator>Liu, Hao</creator><creator>Wang, Xiafu</creator><creator>Zhong, Yisheng</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7TB</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>20150401</creationdate><title>Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors</title><author>Liu, Hao ; Wang, Xiafu ; Zhong, Yisheng</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c324t-98ed5175a333fd159d890668b201062431641984a9c54976f5e64d86020b9b003</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Attitude control</topic><topic>Control systems</topic><topic>Disturbances</topic><topic>Dynamical systems</topic><topic>Nonlinear dynamics</topic><topic>Nonlinearity</topic><topic>Quadrotor</topic><topic>quaternion</topic><topic>Quaternions</topic><topic>robust control</topic><topic>Robustness</topic><topic>Rotorcraft</topic><topic>Rotors</topic><topic>Uncertainty</topic><topic>Vehicles</topic><toplevel>online_resources</toplevel><creatorcontrib>Liu, Hao</creatorcontrib><creatorcontrib>Wang, Xiafu</creatorcontrib><creatorcontrib>Zhong, Yisheng</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>IEEE transactions on industrial informatics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Liu, Hao</au><au>Wang, Xiafu</au><au>Zhong, Yisheng</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors</atitle><jtitle>IEEE transactions on industrial informatics</jtitle><stitle>TII</stitle><date>2015-04-01</date><risdate>2015</risdate><volume>11</volume><issue>2</issue><spage>406</spage><epage>415</epage><pages>406-415</pages><issn>1551-3203</issn><eissn>1941-0050</eissn><coden>ITIICH</coden><abstract>A robust nonlinear attitude control method is proposed for uncertain robotic quadrotors. 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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Attitude control Control systems Disturbances Dynamical systems Nonlinear dynamics Nonlinearity Quadrotor quaternion Quaternions robust control Robustness Rotorcraft Rotors Uncertainty Vehicles |
| title | Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors |
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