Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation

Ibarra‐Jimenez E.; Castillo P.; Abaunza H.

摘要

Summary >A nonlinear control algorithm for tracking dynamic trajectories using an aerial vehicle is developed in this work. The control structure is designed using a sliding mode methodology, which contains integral sliding properties. The stability analysis of the closed‐loop system is proved using the Lyapunov formalism, ensuring convergence in a desired finite time and robustness toward unknown and external perturbations from the first time instant, even for high frequency disturbances. In addition, a dynamic trajectory is constructed with the translational dynamics of an aerial robot for autonomous take‐off, surveillance missions, and landing. This trajectory respects the constraints imposed by the vehicle characteristics, allowing free initial trajectory conditions. Simulation results demonstrate the good performance of the controller in closed‐loop system when a quadrotor follows the designed trajectory. In addition, flight tests are developed to validate the trajectory and the controller behavior in real time. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”XML：ID =“RNC4777-ABS-ABS-0001”> <标题类型=“main”>摘要</ title> <P>在这项工作中开发了一种用于使用空中车辆跟踪动态轨迹的非线性控制算法。使用滑动模式方法设计控制结构，该方法包含整体滑动属性。使用Lyapunov形式主义证明了闭环系统的稳定性分析，从第一次瞬间确保了在期望的有限时间和稳健性的收敛性，即使对于高频扰动，也可以从第一次瞬间到未知和外部扰动。此外，动态轨迹是由一个用于自主起飞，监控任务和着陆的空中机器人的翻译动态。该轨迹尊重车辆特性所施加的约束，允许自由的初始轨迹条件。仿真结果表明，当Quadrotor遵循设计的轨迹时，仿真控制器在闭环系统中的性能良好。此外，开发了飞行测试以实时验证轨迹和控制器行为。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2020年第2期</span><b style="margin: 0 2px;">|</b><span>共28页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Ibarra‐Jimenez E.&option=202" target="_blank" rel="nofollow">Ibarra‐Jimenez E.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Castillo P.&option=202" target="_blank" rel="nofollow">Castillo P.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Abaunza H.&option=202" target="_blank" rel="nofollow">Abaunza H.;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Sorbonne UniversitésUniversité de Technologie de CompiègneCNRS UMR 7253 Heudiasyc France;</p> <p>Sorbonne UniversitésUniversité de Technologie de CompiègneCNRS UMR 7253 Heudiasyc France;</p> <p>Sorbonne UniversitésUniversité de Technologie de CompiègneCNRS UMR 7253 Heudiasyc France;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=aerial robots&option=203" rel="nofollow">aerial robots;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=dynamic trajectory&option=203" rel="nofollow">dynamic trajectory;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=integral sliding mode&option=203" rel="nofollow">integral sliding mode;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=path tracking&option=203" rel="nofollow">path tracking;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=real‐time validation&option=203" rel="nofollow">real‐time validation;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=robust and nonlinear control&option=203" rel="nofollow">robust and nonlinear control;</a> </p> <div class="translation"> 机译：空中机器人;动态轨迹;整体滑动模式;路径跟踪;实时验证;鲁棒和非线性控制; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704023067750.html">Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Ibarra‐Jimenez E.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Ibarra‐Jimenez E.,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Castillo P.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Castillo P.,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Abaunza H.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Abaunza H. </a> <a href="/journal-foreign-21736/" target="_blank" rel="nofollow" class="tuijian_authcolor">International Journal of Robust and Nonlinear Control .</a> <span>2020</span><span>,第2期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：圆形空中机器人轨迹跟踪的整体滑动性能非线性控制：实时验证</span> </p> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/academic-journal-foreign_international-journal-micro-air-vehicles_thesis/02041585046.html">Real-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controller</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Demir Batikan E.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Demir Batikan E.,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Bayir Raif&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Bayir Raif,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Duran Fecir&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Duran Fecir </a> <a href="/journal-foreign-3026/" target="_blank" rel="nofollow" class="tuijian_authcolor">International journal of micro air vehicles .</a> <span>2016</span><span>,第4期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：使用自校正模糊比例积分微分控制器的无人机实时轨迹跟踪</span> </p> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/academic-journal-foreign_proceedings-institution-mechanical-engineers_thesis/0204112777935.html">Design of a fractional-order adaptive integral sliding mode controller for the trajectory tracking control of robot manipulators</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Dumlu Ahmet&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Dumlu Ahmet </a> <a href="/journal-foreign-1240/" target="_blank" rel="nofollow" class="tuijian_authcolor">Proceedings of the Institution of Mechanical Engineers .</a> <span>2018</span><span>,第9期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：机器人轨迹跟踪控制的分数阶自适应积分滑模控制器设计。</span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/academic-conference-foreign_meeting-198987_thesis/0205111567688.html">Finite-time Trajectory Tracking Control of A Wheel Mobile Robot based on Integral Terminal Sliding Mode</a> <b>[C]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Haichao Zhang&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Haichao Zhang,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Wenquan Gong&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Wenquan Gong,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Bo Li&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Bo Li,</a> <a href="/conference-foreign-198987/" target="_blank" rel="nofollow" class="tuijian_authcolor">IEEE International Conference on Control and Automation .</a> <span>2020</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：基于整体终端滑动模式的轮移动机器人有限时间轨迹跟踪控制</span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/academic-degree-foreign_mphd_thesis/02061605006.html">Realtime, Decimeter Accuracy Navigation Using Sliding Window Estimator and Autonomous Vehicle Trajectory Tracking Control.</a> <b>[D] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Zhao, Sheng.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Zhao, Sheng. </a> <span>2014</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：使用滑动窗口估计器和自主车辆轨迹跟踪控制的实时，分米精度导航。</span> </p> </li> <li> <div> <b>6. </b><a class="enjiyixqcontent" href="/academic-journal-foreign-pmc_detail_thesis/040001362509.html">Corrigendum: Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer</a> <b>[O] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Jie Niu&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Jie Niu,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Qianqian Yang&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Qianqian Yang,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Xiaoyun Wang&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Xiaoyun Wang,</a> <span>2018</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：更正：具有非线性干扰观测器的有线驱动上肢康复机器人的滑模跟踪控制</span> </p> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/open-access_resources_thesis/01000126545344.html">Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation</a> <b>[O] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=E. Ibarra‐Jimenez&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">E. Ibarra‐Jimenez,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=P. Castillo&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">P. Castillo,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=H. Abaunza&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">H. Abaunza </a> <span>2019</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：圆形空中机器人轨迹跟踪的整体滑动性能非线性控制：实时验证</span> </p> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/academic-journal-cn_transducer-microsystem-technologies_thesis/0201270995530.html">滑动及侧滑影响下的移动机器人轨迹跟踪控制</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=卫荣慕&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 卫荣慕</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=金世俊&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,金世俊</a> <span> <a href="/journal-cn-8869/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 传感器与微系统 </a> </span> <span> . 2019</span><span>,第003期</span> </span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/academic-journal-cn_electric-machines-control_thesis/0201230501250.html">基于Backstepping时变反馈和PID控制的移动机器人实时轨迹跟踪控制</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=徐俊艳&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 徐俊艳</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张培仁&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,张培仁</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=程剑锋&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,程剑锋</a> <span> <a href="/journal-cn-8485/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 电机与控制学报 </a> </span> <span> . 2004</span><span>,第001期</span> </span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/academic-journal-cn_detail_thesis/0201292275021.html">四旋翼飞行器轨迹跟踪控制器的设计与验证</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=范云生&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 范云生</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=曹亚博&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,曹亚博</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=赵永生&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,赵永生</a> <span> <a href="/journal-cn-56814/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 仪器仪表学报 </a> </span> <span> . 2017</span><span>,第3期</span> </span> </div> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/academic-journal-cn_journal-beijing-university-technology_thesis/0201228848382.html">基于实时位置反馈的模块化机器人轨迹跟踪控制</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=周军&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 周军</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=余跃庆&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,余跃庆</a> <span> <a href="/journal-cn-25776/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 北京工业大学学报 </a> </span> <span> . 2012</span><span>,第008期</span> </span> </div> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/academic-journal-cn_modern-scientific-instruments_thesis/0201226431173.html">基于模糊神经网络的不确定机器人实时轨迹跟踪控制的研究</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=杨丽&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 杨丽</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=任淑艳&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,任淑艳</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=段海龙&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,段海龙</a> <span> <a href="/journal-cn-8293/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 现代科学仪器 </a> </span> <span> . 2012</span><span>,第003期</span> </span> </div> </li> <li> <div> <b>6. </b><a class="enjiyixqcontent" href="/academic-conference-cn_meeting-59739_thesis/020222621675.html">手眼系统的目标轨迹实时跟踪控制策略研究</a> <b>[C]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=于乃功&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 于乃功</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=华瑾&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,华瑾</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=秦永钢&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,秦永钢</a> <span> <a href="/conference-cn-59739/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 2009年中国智能自动化会议 </a> <span> <span> . 2009</span> </span> </div> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/academic-degree-domestic_mphd_thesis/020313274597.html">四轮滑动转向机器人的轨迹跟踪控制研究</a> <b>[A] </b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=李成玉&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 李成玉</a> <span> . 2017</span> </span> </div> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/patent-detail/061202892824.html">一种四旋翼飞行机器人非线性轨迹跟踪控制器及其跟踪控制方法</a> <b>[P]</b> . <span> 中国专利： CN105739513B </span> <span> . 2018.06.12</span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/patent-detail/06120108235606.html">一种四旋翼飞行机器人非线性轨迹跟踪控制器及其跟踪控制方法</a> <b>[P]</b> . <span> 中国专利： CN105739513A </span> <span> . 2016-07-06</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130442252502.html">Method for real time reconfiguration of trajectories for aircraft includes detection of disturbing event, analysis and display of new trajectory and transmission to automatic pilot if pilot validates</a> <b>[P]</b> . <span> 外国专利：  ES2217846T3 </span> <span> . 2004-11-01</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：飞机轨迹实时重配置的方法包括检测干扰事件，分析和显示新轨迹，并在飞行员确认的情况下传输给自动飞行员 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130448083586.html">Method for real time reconfiguration of trajectories for aircraft includes detection of disturbing event, analysis and display of new trajectory and transmission to automatic pilot if pilot validates</a> <b>[P]</b> . <span> 外国专利：  FR2787587B1 </span> <span> . 2001-10-05</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：飞机轨迹实时重配置的方法包括干扰事件的检测，新轨迹的分析和显示以及在飞行员确认的情况下传输给自动飞行员 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130449911433.html">Method for real time reconfiguration of trajectories for aircraft includes detection of disturbing event, analysis and display of new trajectory and transmission to automatic pilot if pilot validates</a> <b>[P]</b> . <span> 外国专利：  FR2787587A1 </span> <span> . 2000-06-23</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：飞机轨迹实时重配置的方法包括干扰事件的检测，新轨迹的分析和显示以及在飞行员确认的情况下传输给自动飞行员 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > </div> </div> </div> <div id="thesis_get_original1" class="downloadBth" style="bottom: 19px;z-index: 999;" onclick="ywcd('0704023067750','4',7,2,1,'',this,24)" class="delivery" prompt="010401" title="通过人工服务将文献原文发送至邮箱" >获取原文</div> <div class="journalsub-pop-up" style="display: none"> <div class="journal-sub"> <h2>期刊订阅</h2> <img src="https://cdn.zhangqiaokeyan.com/img/loginclose.png" alt="关闭" onclick="$('.journalsub-pop-up').hide()"> <p class="pardon">抱歉，该期刊暂不可订阅，敬请期待！</p> <p class="current">目前支持订阅全部北京大学中文核心（2020）期刊目录。</p> <div style="display: flex;margin-top: 69px;justify-content: space-between;"> <div class="no-sub" onclick="$('.journalsub-pop-up').hide()">暂不订阅</div> <div class="other-sub" onclick="continueSub('from=pc-detail')">继续订阅其他期刊</div> </div> </div> </div> <div class="right_btn"> <ul> <li class="gouwuche">  </li> <li class="yijian"> <a href="javascript:void(0);" onclick="link_analysis('/mycenter/auth/complaint.html',this)" title="意见反馈">意见反馈</a> </li> <li class="top"> <a href="javascript:scrollTo(0,0);" title="回到顶部">回到顶部</a> </li> <li class="shouye"> <a href="/" title="首页">回到首页</a> </li> </ul> </div> <div class="xllindexfooter"> <div class="xllindexfootercenter"> <div class="xllindexfooterleft left" > <div class="xllindexfooterleftli"> <ul> <li><a href="/about.html" title="关于掌桥">关于掌桥</a></li> <li><a href="/help/helpmap.html" title="资源导航">资源导航</a></li> <li><a href="/help/helpguide.html" title="新手指南">新手指南</a></li> <li><a href="/help/helpcenter.html" title="常见问题">常见问题</a></li> <li><a href="/sitemap.html" title="网站地图">网站地图</a></li> <li><a href="/help/helpcenter.html?type=9" title="版权声明">版权声明</a></li> </ul> </div> <div class="xllindexfooterleft"> <p class="xllindexfooterlefteamil">客服邮箱：kefu@zhangqiaokeyan.com</p> <div class="xllindexfooterlefttcp"> <div class="xllindexfooterpoliceiimg"></div> <div class="xllindexfooterpoliceispan"> <span>京公网安备：11010802029741号 </span> <span>ICP备案号：<a href="https://beian.miit.gov.cn" rel="nofollow" target="_blank" title="ICP备案号">京ICP备15016152号-6</a></span> <span>六维联合信息科技 (北京) 有限公司©版权所有</span> </div> </div> </div> </div> <div class="xllindexfooterright left"> <ul> <li> <p style="font-weight: bold;">客服微信</p> <div></div> </li> <li> <p style="font-weight: bold;">服务号</p> <div></div> </li> </ul> </div> </div> </div> <span id="0704023067750down" data-source="7," data-out-id="MWPLfyRt4zTyHpAO8umDBK3E5LhPJIejnqbXfsqFbOOEbtHxN6nPvZqyvx2lDzsj," data-f-source-id="7" data-title="Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation" data-price="20" data-site-name="" data-transnum="24" style="display:none;"></span> <input type="hidden" value="4" id="sourcetype"> <input type="hidden" value="21736" id="journalid"> <input type="hidden" value="1" id="inyn_provide_service_level"> <input type="hidden" value="https://cdn.zhangqiaokeyan.com" id="imgcdn"> <input type="hidden" value="1" id="isdeatail"> <input type="hidden" value="" id="syyn_indexed_database"> <input type="hidden" value="" id="servicetype"> <input type="hidden" id="pagename" value="Nonlinear control with integral sliding properties for circular aerial robot trajectory tracking: Real‐time validation"/> <input type="hidden" value="thesis_get_original" id="pageIdentification"> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/jquery-1.12.4.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/lwlh_ajax.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/zq.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/common.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/jquery.cookie.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/top.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/tip.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/login.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/down.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/search.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/newmail.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/searchtype.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/user/regist.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/zxs_solor/detail.js?v=5.7.8"></script> <script type="text/javascript" src="https://www.zhangqiaokeyan.com/statistics/static/pagecollection.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/tj.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/sse.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/pushbaidu.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/history.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/util/cookie.js?v=5.7.8"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/weipu/weipu.js?v=5.7.8"></script> </body> <script> $(function(){ var weiPuStatus = getCookie('WeiPuStatus'); if(weiPuStatus){ tipWeiPuStatus(weiPuStatus); delCookie('WeiPuStatus'); } getFacetKeywordVoInId(); var sourcetype = $("#sourcetype").val(); var inyn_provide_service_level = $("#inyn_provide_service_level").val(); if((sourcetype ==1||sourcetype==4)&&inyn_provide_service_level!=4){ getJournal(); } }) </script> </html>