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

GAFC 비선형 제어기법을 적용한 쿼드로터의 자세 및 고도제어

  • 김영욱 (조선대학교 항공우주공학과) ;
  • 박성용 (조선대학교 항공우주공학과) ;
  • 이현재 (조선대학교 항공우주공학과)
  • Received : 2016.05.13
  • Accepted : 2016.08.23
  • Published : 2016.10.01

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.

Acknowledgement

Supported by : 한국연구재단

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