TY - GEN
T1 - Attitude Tracking of Near-ground Quadrotor
T2 - 36th Chinese Control and Decision Conference, CCDC 2024
AU - Liang, Ye
AU - Lin, Zefeng
AU - Gao, Tianyu
AU - Dong, Yifei
AU - Ding, Yihang
AU - Zhang, Lixian
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper is devoted to the attitude tracking problem of a near-ground quadrotor, where the aerodynamic force of propellers is impaired under the ground effect. An altitude-dependent dynamic model for attitude control of the quadrotor is formulated with consideration of actuator dynamics, upon which an attitude tracking system for near-ground quadrotor is obtained, instead of only considering the altitude control problem via altitude-dependent total lift force in the past studies. By selecting the altitude as a scheduling variable, the attitude tracking control system is further described via a switched linear parameter varying scheme, which has not been considered before. The stability condition and the H∞ performance are obtained, then an altitude-dependent attitude controller is designed, where the effectiveness and advantages are demonstrated via simulations.
AB - This paper is devoted to the attitude tracking problem of a near-ground quadrotor, where the aerodynamic force of propellers is impaired under the ground effect. An altitude-dependent dynamic model for attitude control of the quadrotor is formulated with consideration of actuator dynamics, upon which an attitude tracking system for near-ground quadrotor is obtained, instead of only considering the altitude control problem via altitude-dependent total lift force in the past studies. By selecting the altitude as a scheduling variable, the attitude tracking control system is further described via a switched linear parameter varying scheme, which has not been considered before. The stability condition and the H∞ performance are obtained, then an altitude-dependent attitude controller is designed, where the effectiveness and advantages are demonstrated via simulations.
KW - Attitude tracking control
KW - Near-ground quadrotor
KW - Switched linear parameter varying
UR - https://www.scopus.com/pages/publications/85200369201
U2 - 10.1109/CCDC62350.2024.10588002
DO - 10.1109/CCDC62350.2024.10588002
M3 - 会议稿件
AN - SCOPUS:85200369201
T3 - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
SP - 538
EP - 544
BT - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 25 May 2024 through 27 May 2024
ER -