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In this study, quadrotor vertical taking off and landing (VTOL) control problem of a quadrotor is investigated. A control strategy which has an inner-outer loop structure is proposed. A backstepping based controller is designed for the outer loop to fulfill position tracking aim. The inner loop is regarded as a nominal system with lumped disturbances which contains parameter perturbations, external...
The real-time estimation of road utilization adhesion coefficient is an important issue for the ASR (Anti-Slip Regulation) system of electric wheel independent drive vehicle. Firstly, the 1/4 vehicle dynamics model was built based on the LuGre tire model. Then combined with wheel angular velocity information, the exponential approach law-based sliding mode observer for the road utilization adhesion...
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