Comparison of various quaternion-based control methods applied to quadrotor with disturbance observer and position estimator
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- 作者：A. Chovancová ; ; chovancova.anezka@gmail.com" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; T. Fico tomas.fico@stuba.sk" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; P. Hubinský ; peter.hubinsky@stuba.sk" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; F. Duchoň frantisek.duchon@stuba.sk" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：LQR ; Backstepping controller ; Quadrotor ; Position estimator ; Disturbance observer ; Quaternion
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：May 2016
- 年：2016
- 卷：79
- 期：Complete
- 页码：87-98
- 全文大小：2214 K
文摘
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Several attitude controllers using quaternion were designed to control quadrotor.
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Several position controllers were designed to control quadrotor.
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The disturbance observer and the state-space estimator were designed.
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The comparison of performance of combinations of controllers was carried out.
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The external disturbance was applied in the verification process.