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浏览/检索结果: 共1条，第1-1条 帮助 已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE) 会议论文 2011 International Conference on Materials, Mechatronics and Automation, ICMMA 2011, January 15, 2011 - January 16, 2011, Melbourne, VIC, Australia Hou Z. C.; Gong X.; Bai Y.; Tian Y. T.; Sun Q. 收藏  |  浏览/下载：19/0  |  提交时间：2013/03/25 This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration  the autonomous trajectory tracking is realized. The model uncertainty  external disturbance and the senor noise are also taken into consideration. Then the H controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map  control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.