Name
Abstract | ||
|---|---|---|
Forwading-based immersion and invariance approaches have been applied to control the high-order nonlinear systems, whereas it is an off-line algorithm and needs to directly compute analytic derivatives of the mappings. In our study, a new tracking control algorithm is developed by introducing a second-order filter at each step of the design. This recursive algorithm does not only overcome the problem of “explosion of complexity” to improve computational efficiency, but also suppresses the high-frequency noise arising from time derivatives of states and virtual controls. Unlike other existing control methodologies, it does not require the knowledge of a Lyapunov function in principle. The boundedness of all mappings and their analytic derivatives can be ultimately guaranteed by using the internal stability of filters. Also, this bottom-up algorithm is able to provide the modularized design of the controller, where real-time applications can be to some extent realized. In this work, a quadrotor helicopter is used to demonstrate the controller performances via various simulations. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1016/j.jfranklin.2015.10.004 | Journal of the Franklin Institute |
Field | DocType | Volume |
Lyapunov function,Control algorithm,Mathematical optimization,Control theory,Recursion (computer science),Nonlinear system,Invariant (physics),Control theory,Mathematics,Trajectory | Journal | 352 |
Issue | ISSN | Citations |
12 | 0016-0032 | 1 |
PageRank | References | Authors |
0.36 | 23 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| X. Zhang | 1 | 190 | 43.25 |
| Xianlin Huang | 2 | 77 | 14.77 |
| Hongqian Lu | 3 | 17 | 7.21 |