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Quadrotor trajectory tracking by using fixed-time differentiator

Bai-Hui Du 1 Andrey Polyakov 2 Gang Zheng 3 Quan Quan 1
2 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper proposes a xed-time differentiator running in parallel with a feedback linearization-based controller, which allows quadrotors to track a given trajectory. The xed-time differentiator estimates outputs' derivatives in a prede ned conver- gence time, largely compensating for initial condition problems and solving the delay problem. Combined with a state reconstruction step, a whole observer-estimator- controller scheme for trajectory tracking problem of quadrotors can be constructed. Also, an LMI optimization-based algorithm to tune parameters of the differentiator is also developed here. The high performance of the proposed model is illustrated by simulation results.
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https://hal.inria.fr/hal-01947365
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Submitted on : Thursday, December 6, 2018 - 4:49:42 PM
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Bai-Hui Du, Andrey Polyakov, Gang Zheng, Quan Quan. Quadrotor trajectory tracking by using fixed-time differentiator. International Journal of Control, Taylor & Francis, 2019, 2019 - Issue 12, ⟨10.1080/00207179.2018.1462534⟩. ⟨hal-01947365⟩

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