We propose a collocation method for solving initial value problems of secondorder ODEs by using modified Laguerre functions.This new process provides global numerical solutions.Numerical results demonstrate the effici...We propose a collocation method for solving initial value problems of secondorder ODEs by using modified Laguerre functions.This new process provides global numerical solutions.Numerical results demonstrate the efficiency of the proposed algorithm.展开更多
In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constr...In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.展开更多
基金supported in part by Foundation for Distinguished Young Talents in Higher Education of Guangdong,China,N.LYM09138supported in part by NSF of China N.10871131+2 种基金Fund for Doctor Authority of Chinese Educational Ministry N.20080270001Shanghai Leading Academic Discipline Project N.S30405Fund for E-institutes of Shanghai Universities N.E03004.
文摘We propose a collocation method for solving initial value problems of secondorder ODEs by using modified Laguerre functions.This new process provides global numerical solutions.Numerical results demonstrate the efficiency of the proposed algorithm.
基金supported by the National Defense Basic Scientific Research Program of China (Grant No.JCKY2021204B051).
文摘In this paper,a fully actuated system approach(FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle(UAV).System uncertainty,external disturbance and actuator constraint are all considered,which make the problem challenging.Inspired by the active disturbance rejection control(ADRC),tracking di®erentiator(TD)and extended state observer(ESO)are introduced for handling the uncertainties and generating the feedback signals.With the proposed feedback control law,the performance of the resulted closed loop system is related to its eigenstructure-eigenvalue and eigenvectors.Based on a type of control parametrization method,the parametrized eigenstructure of the closed loop system are optimized.A better performance is observed by comparative numerical simulation.
