A nonlinear quadrotor trajectory tracking controller with disturbance rejection

Cabecinhas, David; Cunha, Rita; Silvestre, Carlos

doi:10.1109/acc.2014.6858615

Cited by 58 publications

(76 citation statements)

References 12 publications

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“…Raffo et al [1] used predictive nonlinear control strategy to achieve robust Quadrotor trajectory tracking. Similar studies were investigated by Cabecinhas et al [2] and Guadarrama-Olvera et al [3]. Bou-Ammar presented a comparison study between two Quadrotor autopilots tasked to maintain a desired velocity vector.…”

Section: Introductionmentioning

confidence: 67%

Unmanned Aerial Vehicles parameter estimation using Artificial Neural Networks and Iterative Bi-Section Shooting method

Hatamleh

Al-Shabi

Al-Ghasem

et al. 2015

Applied Soft Computing

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Section: Introductionmentioning

confidence: 67%

Unmanned Aerial Vehicles parameter estimation using Artificial Neural Networks and Iterative Bi-Section Shooting method

Hatamleh

Al-Shabi

Al-Ghasem

et al. 2015

Applied Soft Computing

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“…It is readily available in the market and allows for easy integration with the other components of the control architecture. For more details on the system architecture and identification, the reader is referred to Cabecinhas, Cunha, and Silvestre (2014).…”

Section: Resultsmentioning

confidence: 99%

Robust global trajectory tracking for a class of underactuated vehicles

et al. 2015

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Application of nonlinear analysis and design Robust control of nonlinear systems Hybrid control systems a b s t r a c tIn this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position trajectory while minimizing the angular distance to a desired orientation. This objective is achieved robustly, with respect to bounded state disturbances, and globally, in the sense that it is achieved regardless of the initial state of the vehicle. The proposed controller is tested in an experimental setup, using a small scale quadrotor vehicle and a motion capture system.

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“…Then, considering (29), for all ∥x 2 (t 0 )∥ < ∞, the solution x 2 (t) of the perturbed system (22b) satisfies (40) for some finite amount of time t 2 ≥ t 1 , depending on (B.2) and ∥x 2 (t 0 )∥, where…”

Section: Appendix B Proof Of Corollarymentioning

confidence: 99%

“…Hence, several of the above mentioned controllers implement an integral action to resist against external disturbances and cope with unknown and time varying parameters. Recently, adaptive controls have been employed to counteract such disturbances [14,[25][26][27][28][29]. A nonlinear force observer has been introduced in [30] to estimate disturbances applied to a quadrotor.…”

Section: Related Workmentioning

confidence: 99%