A Novel Approach for Trajectory Tracking Control of an Under-Actuated Quad-Rotor UAV  

作　　者：Ke Shao Kang Huang Shengchao Zhen Hao Sun Rongrong Yu 

机构地区：[1]School of Civil Aviation,Northwestern Polytechnical University,Xi’an 710072 [2]School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第9期2030-2032,共3页自动化学报（英文版）

基　　金：supported by the Fundamental Research Funds for Central Universities of China (23GH020222);the Basic Research Program of Taicang City (TC2023JC06)。

摘　　要：Dear Editor,This letter presents a novel Udwadia-Kalaba(U-K)approach for the trajectory tracking control of a quad-rotor unmanned aerial vehicle(UAV).Compared to conventional control approaches,the desired trajectories are treated as trajectory tracking constraints in this approach.

关 键 词：LETTER DESIRED CONSTRAINTS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249[航空宇航科学与技术—飞行器设计]