DOI 10.17586/0021-3454-2021-64-12-982-992
UDC 681.5
ROBUST TRACKING CONTROL OF A QUADCOPTER BY OUTPUT BASED ON THE GEOMETRIC APPROACH
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer
M. A. Kakanov
ITMO University, Faculty of Control Systems and Robotics;
A. Y. Zhivitckii
ITMO University, Faculty of Control Systems and Robotics;
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Full Professor, Dean
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Abstract. The problem of tracking control of a quadcopter with unmeasurable pitch and roll angles is solved on the basis of the geometric approach. The enhanced extended observer and the internal model are used to solve the problem. The proposed approach makes it possible to ensure the quadcopter movement in horizontal plane along a trajectory given by a periodic (sinusoidal) function or a second-order polynomial function. Quadcopter motion is characterized by semiglobal asymptotic convergence of the tracking errors to zero.
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