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In this paper, trajectory control of a car-like vehicle and altitude control of a quadrotor under variable loads are investigated for specific tasks in air-ground cooperation. A backstepping trajectory controller is proposed for the car-like vehicle to ensure effective implementations of specific tasks. A double-loop structure of active disturbance rejection control is proposed to address the impact of variable loads on altitude control of the quadrotor. Effectiveness of the proposed control method are shown by physical experiments of the quadrotor combined with the car-like vehicle under air-ground specific tasks.

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Trajectory Control of Car-Like Vehicles and Altitude Control of Quadrotors with Variable Loads Under Air-Ground Specific Tasks

  • 会议论文

  • 发表日期：

    2025年

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  • Lei Cui

摘要

In this paper, trajectory control of a car-like vehicle and altitude control of a quadrotor under variable loads are investigated for specific tasks in air-ground cooperation. A backstepping trajectory controller is proposed for the car-like vehicle to ensure effective implementations of specific tasks. A double-loop structure of active disturbance rejection control is proposed to address the impact of variable loads on altitude control of the quadrotor. Effectiveness of the proposed control method are shown by physical experiments of the quadrotor combined with the car-like vehicle under air-ground specific tasks.