Set-point Tracking of the Quadrotor under Input Bounded Constraints
For the control input of a quadrotor is subject to bounded constraints in the practical application,a new control protocol combined linear and smooth hyperbolic functions under bounded constraint is proposed.Based on the Lyapunov theory and backstepping method,the asymptotically stability of the quadrotor system as well as the rapidity of set-point tracking are presented.Finally,the simulation results further verify the validness of the designed control protocol.
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