Quadrotor trajectory tracking by using fixed-time differentiator

Bai-Hui Du (1) , Andrey Polyakov (2) , Gang Zheng (3) , Quan Quan (1)

1 BUAA - Beihang University
2 VALSE - Finite-time control and estimation for distributed systems
3 DEFROST - Deformable Robots Simulation Team

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.

Mots clés: LMI optimization; Feedback linearization; Trajectory tracking; Fixed-time differentiator

Domaines: Automatique

Bai-Hui Du, Andrey Polyakov, Gang Zheng, Quan Quan. Quadrotor trajectory tracking by using fixed-time differentiator. International Journal of Control, 2019, 2019 - Issue 12, ⟨10.1080/00207179.2018.1462534⟩. ⟨hal-01947365⟩