Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle

Wei He; Tingting Meng; Shuang Zhang; Quanbo Ge; Changyin Sun

doi:10.1109/TSMC.2017.2779854

Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle

Wei He
, Tingting Meng
, Shuang Zhang
, Quanbo Ge
, Changyin Sun

Research output: Contribution to journal › Article › peer-review

30 Scopus citations

Abstract

This paper mainly regulates a flexible wing of a micro aerial vehicle to track two spatiotemporally varying trajectories. By utilizing Lyapunov's direct method, two boundary control laws are designed to guarantee uniform boundedness of the closed-loop target system along the time axis. Based on Schur complement lemma, nonlinear inequalities derived from the theoretical deduction are rewritten as matrixes, which are solved through the LMI toolbox in MATLAB. In addition, the tracking control problem is formulated as an optimization problem. The simulation examples are conducted to prove the effectiveness of the proposed boundary control laws.

Original language	English
Article number	8249753
Pages (from-to)	2431-2441
Number of pages	11
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	48
Issue number	12
DOIs	https://doi.org/10.1109/TSMC.2017.2779854
State	Published - Dec 2018
Externally published	Yes

Keywords

Flexible structures
micro aerial vehicle (MAV)
robot
trajectory tracking control

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10.1109/TSMC.2017.2779854

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title = "Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle",

abstract = "This paper mainly regulates a flexible wing of a micro aerial vehicle to track two spatiotemporally varying trajectories. By utilizing Lyapunov's direct method, two boundary control laws are designed to guarantee uniform boundedness of the closed-loop target system along the time axis. Based on Schur complement lemma, nonlinear inequalities derived from the theoretical deduction are rewritten as matrixes, which are solved through the LMI toolbox in MATLAB. In addition, the tracking control problem is formulated as an optimization problem. The simulation examples are conducted to prove the effectiveness of the proposed boundary control laws.",

keywords = "Flexible structures, micro aerial vehicle (MAV), robot, trajectory tracking control",

author = "Wei He and Tingting Meng and Shuang Zhang and Quanbo Ge and Changyin Sun",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2018",

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doi = "10.1109/TSMC.2017.2779854",

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AU - He, Wei

AU - Meng, Tingting

AU - Zhang, Shuang

AU - Ge, Quanbo

AU - Sun, Changyin

PY - 2018/12

Y1 - 2018/12

N2 - This paper mainly regulates a flexible wing of a micro aerial vehicle to track two spatiotemporally varying trajectories. By utilizing Lyapunov's direct method, two boundary control laws are designed to guarantee uniform boundedness of the closed-loop target system along the time axis. Based on Schur complement lemma, nonlinear inequalities derived from the theoretical deduction are rewritten as matrixes, which are solved through the LMI toolbox in MATLAB. In addition, the tracking control problem is formulated as an optimization problem. The simulation examples are conducted to prove the effectiveness of the proposed boundary control laws.

AB - This paper mainly regulates a flexible wing of a micro aerial vehicle to track two spatiotemporally varying trajectories. By utilizing Lyapunov's direct method, two boundary control laws are designed to guarantee uniform boundedness of the closed-loop target system along the time axis. Based on Schur complement lemma, nonlinear inequalities derived from the theoretical deduction are rewritten as matrixes, which are solved through the LMI toolbox in MATLAB. In addition, the tracking control problem is formulated as an optimization problem. The simulation examples are conducted to prove the effectiveness of the proposed boundary control laws.

KW - Flexible structures

KW - micro aerial vehicle (MAV)

KW - robot

KW - trajectory tracking control

UR - https://www.scopus.com/pages/publications/85040562088

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DO - 10.1109/TSMC.2017.2779854

M3 - 文章

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JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 12

M1 - 8249753

ER -

Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle

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Keywords

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