Dear Editor,This letter proposes a robust control strategy for the autonomous landing of a quadrotor on a moving target.Specifically,a force command that consists of a cascade dynamics estimator and an optimal guarant...Dear Editor,This letter proposes a robust control strategy for the autonomous landing of a quadrotor on a moving target.Specifically,a force command that consists of a cascade dynamics estimator and an optimal guaranteed cost control law is exploited for the position-loop tracking.Then,an orientation constraint torque command is employed for the attitude-loop tracking such that the quadrotor refrains from flipping during the landing operation.展开更多
基金supported in part by the Future Innovation Research Funds of Ulsan National Institute of Science and Technology,Development of Drone System for Ship and Marine Mission(1.220025.01)of Institute of Civil-Military Technology Cooperation(2.200021.01)the National Research Foundation of Korea grant funded by the Korea Government(MSIT)(2020R1F1A 1075857)+2 种基金Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education(2020R1A6A1A03040570)Beijing Institute of Technology Research Fund Program for Young Scholarsthe National Natural Science Foundation of China(62203054)。
文摘Dear Editor,This letter proposes a robust control strategy for the autonomous landing of a quadrotor on a moving target.Specifically,a force command that consists of a cascade dynamics estimator and an optimal guaranteed cost control law is exploited for the position-loop tracking.Then,an orientation constraint torque command is employed for the attitude-loop tracking such that the quadrotor refrains from flipping during the landing operation.
