Wentao Song
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Research Interests
Wentao Song has a total of 3 co-authors. Here are the top co-authors by number of shared publications:
Di Zhang
Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education, East China University of Science and Technology, Ministry of Education, Shanghai, China
1 shared publication- Jing Xu
Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai, China
1 shared publication - Yang Tang
East China University of Science and Technology
1 shared publication
Latest Publications
- 13 January 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 30 (6) , 6620-6632
Antiwindup Finite-Time Attitude Control for a Quadrotor System: Multistage Semiimplicit Euler Implementation
In this work, the multistage semiimplicit Euler digital implementation is proposed for a switched antiwindup super-twisting control (AWSTC) to achieve the precise and robust attitude tracking. The algorithm of AWSTC is designed based on the singular perturbation redesign, where the high gain feedbacks are automatically activated for the global stability of tracking errors in presence of controller saturation. As a result, the attitude tracking performance is significantly improved, even when the initial conditions are far away from the origin. Then, the semiimplicit Euler method of AWSTC is proposed to mix explicit and implicit discretizations for attenuating the undesirable numerical chattering of the explicit Euler methods. In this situation, the selection of a relatively large sampling period is permitted, and thus the overestimation of controller gains for inducing the numerical chattering is also avoided. Both the simulation and experimental results on the quadrotor platform confirm the effectiveness and merits of the proposed algorithm.
- 13 January 2025
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 30 (6) , 6620-6632
Antiwindup Finite-Time Attitude Control for a Quadrotor System: Multistage Semiimplicit Euler Implementation
In this work, the multistage semiimplicit Euler digital implementation is proposed for a switched antiwindup super-twisting control (AWSTC) to achieve the precise and robust attitude tracking. The algorithm of AWSTC is designed based on the singular perturbation redesign, where the high gain feedbacks are automatically activated for the global stability of tracking errors in presence of controller saturation. As a result, the attitude tracking performance is significantly improved, even when the initial conditions are far away from the origin. Then, the semiimplicit Euler method of AWSTC is proposed to mix explicit and implicit discretizations for attenuating the undesirable numerical chattering of the explicit Euler methods. In this situation, the selection of a relatively large sampling period is permitted, and thus the overestimation of controller gains for inducing the numerical chattering is also avoided. Both the simulation and experimental results on the quadrotor platform confirm the effectiveness and merits of the proposed algorithm.