Stabilization of a mini-rotorcraft having four rotors

Castillo, Pedro; Lozano, Rogelio; Dzul, A.

doi:10.1109/iros.2004.1389815

Cited by 119 publications

(137 citation statements)

References 2 publications

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“…In fact, few MAV control methods available in the literature have dealt with constraints issues (Castillo et al 2005;Cunha et al 2009). In Castillo et al (2005), the authors divided the system into smaller subsystems with 2 degrees of freedom (DOF).…”

Section: Introductionmentioning

confidence: 99%

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A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle

Prado

Santos

2017

J.Aerosp. Technol. Manag.

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The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance.

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Section: Introductionmentioning

confidence: 99%

“…In Castillo et al (2005), the authors divided the system into smaller subsystems with 2 degrees of freedom (DOF). For each subsystem, they applied a nested saturated controller (Teel 1992) to achieve global stability while respecting a maximum constraint on the total thrust magnitude.…”

Section: Introductionmentioning

confidence: 99%

A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle

Prado

Santos

2017

J.Aerosp. Technol. Manag.

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“…These designs also call for the development of various control methodologies [6]- [8]. An important subset of UAVs is quadrotors, which have become popular recently due to their small size and maneuverability.…”

Section: Introductionmentioning

confidence: 99%

Design of a Quadrotor Roll Controller Using System Identification to Improve Empirical Results

Batmaz¹,

Elbir²,

Kasnakoğlu³

2013

IJMMM

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Abstract-Unmanned Aerial Vehicles (UAVs), specifically quadrotors, is one of the major topics of study in current literature with applications to numerous fields. In this paper we consider a test-bed for the design of a low cost flight controller for a quadrotor and as a first step in design we demonstrate the design of the roll controller on an experimental setup through the stages of data collection, modeling, control design and verification. The procedure consists of four stages: 1) Experimental determination of controller coefficients, 2) Data collection, 3) System identification, 4) Controller redesign by tuning coefficients with a numerical search. It is observed that the system designed as such is capable of achieving the desired roll stabilization, and coefficient tuning on the identified model noticeably improves the settling time and steady state oscillation amplitude.

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“…Although many control laws have been proposed in the literature for quadrotor UAVs [4], [5], [6], [7], the passivity property of these vehicles has not been extensively explored. Nevertheless in [8], passive components of the quadrotor aircraft model have allowed to develop independent simple PD controllers, taking into account the limitation of control range and permitting to provide stability property.…”

Section: Introductionmentioning

confidence: 99%

Energy-based nonlinear control for a quadrotor rotorcraft

Muñoz

Santos

Castillo

et al. 2013

2013 American Control Conference

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Abstract-A sub-optimal feedback control to stabilize a quadrotor vehicle is introduced in this paper. The approach makes use of the passivity property and the dynamic programming theory. The control design is based on the proposition of a Lyapunov function which has been defined as the energetic function for the system and, at the same time, is an approximation of the Bellman function associated with the optimal problem for nonlinear systems. To validate the control strategy, various simulations have been carried out.

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Stabilization of a mini-rotorcraft having four rotors

Cited by 119 publications

References 2 publications

A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle

A Model Predictive Guidance Strategy for a Multirotor Aerial Vehicle

Design of a Quadrotor Roll Controller Using System Identification to Improve Empirical Results

Energy-based nonlinear control for a quadrotor rotorcraft

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