Ghallab Ahmed G, Petersen Ian R
Research School of Engineering, The Australian National University, Canberra, ACT 2601, Australia.
Sensors (Basel). 2021 Mar 30;21(7):2387. doi: 10.3390/s21072387.
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent stability results obtained for nonlinear negative imaginary systems. In specific, through an inner-outer loop method, we establish the nonlinear negative imaginary property of the quadrotor rotational subsystem. Then, a strictly negative imaginary controller is synthesized using the nonlinear negative imaginary results. This guarantees the robust asymptotic stability of the attitude of the quadrotor in the face of modeling uncertainties and external disturbances. First simulation results underline the effectiveness of the proposed attitude control approach are presented.
在本文中，我们提出了一种用于四旋翼飞行器姿态控制的新方法，该方法不需要角速度测量值或基于模型的角速度重构观测器。所提出的方法基于近期针对非线性负虚系统获得的稳定性结果。具体而言，通过内外环方法，我们建立了四旋翼飞行器旋转子系统的非线性负虚特性。然后，利用非线性负虚结果合成了一个严格负虚控制器。这保证了四旋翼飞行器姿态在面对建模不确定性和外部干扰时的鲁棒渐近稳定性。首先给出的仿真结果突出了所提出姿态控制方法的有效性。
