Open document
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General information |
| Author |
Honglei, An; Jie, Li; Jian, Wang; Jianwen, Wang; Hongxu, Ma |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Input saturation must be taken into account
for applying rapid reorientation in the large angle
manoeuvre of a quadrotor. In this paper, a
backstepping‐based inverse optimal attitude controller
(BIOAC) is derived which has the property of a
maximum convergence rate in the sense of a control
Lyapunov function (CLF) under input torque
limitation. In the controller, a backstepping technique
is used for handling the complexity introducing by the
unit quaternion representation of the attitude of a
quadrotor with four parameters. Moreover, the inverse
optimal approach is employed to circumvent the
difficulty of solving the Hamilton‐Jacobi‐Bellman
(HJB) equation. The performance of BIOAC is
compared with a PD controller in which the input
torque limitation is not considered under the same unit
quaternion representation using numerical simulation
while the results show that BIOAC gains faster
convergence with less control effort. Next, BIOAC is
realized on a test bed and the effectiveness of the
control law is verified by experimental studies. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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